Don't know what your time constraints and inclinations are, but if it were me I'd go 143 to 12 to Torrey and then east on 24 then south on 95. Then to Monument Valley, North Rim and Zion on the way back. Since you started at Cedar City I'm not sure there's a clean way to do Zion first and then all the others without a lot of backtracking. Just my $.02...
























