Thanks Steve.
I'm definitely familiar with the Escalante area, as I've done many backpacking trips in the area. Its actually my preferred area to backpack because there aren't as many camping restrictions as a National Park.
Obviously, this trip with my family including an 8,7, and 3 yr old plus a wife who sometimes likes to take 3 showers a day will be a different type of trip.
Yeah, my concern was driving a class C down Hole in the Rock road to any trailheads that would be kid-friendly. Will have to look up those canyons!