Arches is my favorite national park. Terrific scenery. But to see most of the good stuff you need to park, get out and walk the trails. Most are short. The view at the end of a 100 yard trail at Arches is usually 10 times better than the view from the road. And those parking lots were quite full the two times I've been there, so a parking space for your rig would be dicey.
This is the kind of park that warrants days, not hours, to enjoy. Set up at a CG, pack some snacks along with plenty of water in your tug, and immerse yourself in this fabulous jewel of the desert west.