Another vote for Best Friends Animal Sanctuary at Kanab, Utah. . . a fantastic experience just to drive through or take their tour. It's in a beautiful setting and they do have a couple RV sites for rent - if you're lucky.
The area has many slot canyons for hiking In Escalante try Peek-A-Boo or Spooky canyons. Be sure to check weather conditions first for hiking any slot canyons. Even if it's rained 50 miles away it could be dangerous in slots.
Here's a good site for the Southwest, including slot canyons:
Southwest in General & Slot Canyons