Since you mentioned the Escalante area, here are some thoughts. (I have this all at my fingertips right now as I pour over topo maps of the region preparatory to another spring RV and backpacking trip to the region.)
- You may want to consider camping at Kodachrome Basin State Park. I believe there is electricity there.
- If you have children, Spooky and Peakaboo cyns are popular (watch the road conditions though)
-Calf Creek has a nice campground (no hookups) with access to a few nice hikes. The road in there is paved.
-For hiking and road conditions (beware of all dirt roads in that area if it rains or there is snowmelt), I suggest you check in at the interagency (USFS, BLM, NP, Sate, and Nat Rec.) office in Escalante.
-The National Geographic Map series, Canyons of the Escalante is a good start for an overview map.
- I suggest that you get the book Photographing the Southwest Volume 1, by Laurent Martres.
- There is a good outfitter store in Escalante that can take you out to the trailheads as it is unlikely you will want to drive a (rental)class C to very many of the trailheads. They have books, maps and loads of information too.
The Escalante area is not like the National Parks (i.e.; National Playgrounds) It is a true desert wilderness if this is the experience you are looking for.
Hope this helps,
Steve