Whether you choose to drive the RV over it or not, the
UT-12 Scenic Byway is worth exploring. We have spent a couple of weeks in the area and not seen it all. Follow the links in the above website to see what interests you. If you want a good alternative route; coming from the South take UT-62 from US-89. At Koosharem, turn right on Browns Lane which will take you to UT-24 to Torrey and Capitol Reef. It is not all that much longer and is a scenic drive in itself.
Goblin Valley State Park North/East of Hanksville on UT-24 is definitely worth a visit in my opinion.