The best place to visit Sedona is to stay in nearby Cottonwood at Dead Horse Ranch State Park. With your small RV you could leave Cottonwood/Sedona via Hwy 89 north, then east to Williams and north on Hwy 64....or take I-17 north to Flagstaff and west on I-40.
Definitely stay in Grand Canyon at Trailer Village. You would be close to the Rim and easy access for the free shuttle.
Leave the canyon via Hwy 64 east to Hwy 89 and north into Page. Antelope Canyon would be a nice slot canyon tour.
You won't have any problem taking your small RV on Hwy 9 west to Zion Nat'l Park through the tunnels. Stay in the park at Watchman campground with electric. Then exit again via Hwy 9 east back to 89 north and take in Bryce Nat'l Park. It'll probably be chillier so if you want hookups, Ruby's, just outside the park entrance is the place to stay.
Then take the very scenic Hwy 12 up to Capitol Reef Nat'l Park - an absolutely gorgeous drive. The park's campground is lovely.
Sounds like a nice trip. They're all our favorite places.
Full-Timed for 16 Years
.... Back in S&B Again
Traveled 8 yr in a 40' 2004 Newmar Dutch Star Motorhome
& 8 yr in a 33' Travel Supreme 5th Wheel