We've driven it often with our 40' MH.
If you normally can drive on a highway without running into guard rails or off the pavement then you'll be just fine.
You've driven to Alaska :) without issues and some of those roads are the same.
From Escalante to Torrey you'll have a long uphill but it has shoulders and guardrails and by that time you're in the pine forest. It's a beautiful drive.
About 10 miles before Torrey is a national forest campground, Singletree, which is very suitable for a 40' MH. We like it because it's cooler temps than Torrey. There are plenty of RV parks in Torrey.
Plan a night or two in Escalante midway so you can take your towed vehicle for some exploring in either direction. Calf Creek is a pretty little hike to a beautiful waterfall.
Enjoy your trip!