To Zion and Bryce routing

Unless it is the 'off-season', don't pull through Zion, small vehicle traffic is terrible, the road is tight, you won't be able to find parking easily, and you will be a bottleneck. Take 89 and stay in Mt Caramel or Glendale. Then drive just the truck through the park to the west side and do your running around. Then you can just continue north on 89 to Bryce.

389/59 to Hurricane is a safe and easy road. The 20 from I-15 to Panguitch is a strap pull with the sharp turns on the east side as you head downhill. It's not bad, take a 30' horse trailer that route often.