Yeah, based on
@TOMB 's recommendation, it would work if you decided what of those things you would want to see and then divert off highway specifically to see those things.
If you pass through Baker, you could easily drop down Kelbaker road to drive up and see the Lava tube, and then continue past that to an old cinder mine and on through a very cool Joshua tree forest to drive up to a cool old mining site (Evening Star Mine) and the on to Cima at I-15.
That would take at least a half day, whereas on the freeway it's about 30 minutes.
Pick and choose and string some things together.
You could easily find a spot to camp if you're prepared for that.
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And definitely Raptor-friendly. Take water!
Dan.