We just did the loop and the two parks we liked the best for hiking and beauty were Zion and Bryce. Our least favorite was Capitol Reef but we still enjoyed the 4 day’s we spent there.
Kodachrome State Park was a great choice for visiting Bryce but it is about 30 minutes from the park. We stayed at Watchman Campground in Zion which was a nice campground and the accessibility to the park shuttle system made it the best choice. Both of these campgrounds were sold out our entire stays so reservations are needed. If you are good with dry camping, you could skip reservations are find a place to stay.
Enjoy Utah! We loved our 6 weeks there!