All the activities you want to do and a "couple of days" at each stop? Very tough. Zion, for example, means finding a parking place (maybe as far as Springdale) and riding a shuttle. Or driving time to get to the places of interest from where you might be staying.
And going back and forth for the dogs.
Our favorite is Bryce and the Queens Garden Trail...not long but steep. Hiking at Zion would be especially tough for you due to the parking / transportation / dog issue as the hikes are longer in duration.
And we like Cohab Canyon Hike in Capitol Reef.
You have picked some great spots and we have been to them all several times. Feel free to email or PM me for more info if you would like.