Route from Yellowstone to Moab area? Is 191 good?

we have taken 191 north from Moab to Yellowstone three or four times in the last few years. Ours is 38ft and we pull a Grand Cherokee with a brake system of its own. We have no problems, but there are a couple pretty tough passes to cross,
The highway is good and well kept, maybe a little rough south of Vernal, but not all the way to Helper. The road is good all the way to I 40. After that, I don't know what route to advise to get to Scottsdale. Somebody else will have that info.