Explore Western US without an RV

I'd rather jump off my porch onto my pocket knife before joining a group in a tour bus or other type setup with high concentrations of humans. I wish I could explain it, but I just seem to be ready to get back home after a few days away. No rational reason I can come up with, but I get ansy away from the house. My dad was the same way, did not travel at all in his later years. We'd go see relatives in the next state and he would be ready to go home after a day or two. Having a dog makes it more difficult. I would feel pressured to get back and be sure he is okay even though I would have a reliable dog setter coming over. Maybe I'm just not mentally wired to travel. But I feel like I'll miss out on a lot if I don't see at least a portion of the US. I may be able to retire in four years so I would like to use the first year or so to tour the western US, but wish I could do it without the issues.