If staying in Kanab, and in reasonable health, consider drawing for a permit to see Coyote Butte North. A normal Sedan can make the drive to the trailhead, and I believe the hike is 4 miles or so. It's worth it to head to BLM office in the morning and see if you can get a "walk-in" permit as well. I believe you can shell out for a "guide" if you really want to go but don't get a permit.

It's amazing. Only 20 people/day get to go.

http://www.blm.gov/az/st/en/arolrsma...s/permits.html