well.. here is an epic route.. see images attached..mixed pavement and dirt, you'll see a jump between part 2 and 3 because I'll have to provide you with GPS tracks for the trail that connects the 2 points. The following portions are off road:
1- Goblin Valley to Hwy 24 -(Wild horse road) plan 2-3 hours with 1 river crossing with EPIC views, some of the coolest and most diverse terrain I've ever seen.. (I have videos if you want)..
2- Kodachrome Basin to Toadstool hoodoos.. (Cottonwood canyon road) - never personally traveled this.. but is normally passable in high clearance 2wd or standard 4wd.
3- Vermillion Cliffs National monument to white pocket up to HWY 89A - The House Rock Valley road is fairly maintained with ruts.. into white pocket and back out there is deep sand, but I towed my trailer in and out without issue.
4- From MT Carmel to Elephant Cove staging area via "Barracks" Trail - there is one steep sand hill you'll have to navigate up.. there are youtube videos.. with your Raptor aired down you should have plenty of juice to get you up the hill, if not.. there isn't that much more to see past that point and you can go back out the way you came and go into Zion NP from the east side through Mt Carmel.
Sites you'll see/pass through that could easily take and entire day if you decide to stop:
Moab - nuff said.. so much to do here and see you could spend 7 days and never get bored
Deadhorse point
Canyonlands
Goblin Valley (your 9yr old will LOVE it here)
Capitol Reef NP
Grand Staircase- Escalante national monument
Bryce Canyon NP (Tropic area)
Kodachrome Basin State Park
Toadstool Hoodoos (short Hike..Amazing rock formations)
Lake Powell (Page area) camping available on the beach
Horseshoe Bend overlook (south of Page, $10 parking fee and short hike)
Marble Canyon/Lees Ferry (official start of the Grand Canyon)
White Pocket (amazing rock formations)
Kanab, UT (Peekaboo slot canyon, Sand Caves- just off highway, good time to stretch the legs.. super short jaunt up to some awesome caves on the cliff)
Mt Carmel Junction (belly of the dragon, Barracks trail, Coral Pink sand dunes)
Zion National Park
Cedar Breaks National Monument
Panguitch lake (great fishing, amazingly beautiful high mountain lake - Lake Tahoe of Utah)
This could easily take 7-20 days.. I'd recommend spending some time on google, pick a few things you really want to see.. a few general areas you'd like to camp.. and let me know, I can give you dispersed camping areas pretty much anywhere along here. Happy planning!