What part of US-191 are you talking about. From the Arizona state line to I-70 there are lots of ups and downs with one short really steep grade South of Blanding as Bumpy mentioned. There is a pretty good climb out of Moab to I-70. Between I-70 and I-80, there is a steep grade North of Helper and then up and down around/through Flaming Gorge. The last time we drove it two years ago the road was in pretty good condition.
You will need to check on the road conditions for US-89 South of Page, it was closed a while back after a land slide.