Cedar Breaks is an underrated park, in my view. Easy to get to from Cedar City (the Hampton Inn there was plenty decent, although I've not been there in about 3 years), and there is minimal hiking needed to see the scenery. As I recall, we did a short walk around the rim, but it wasn't at all strenuous (but it isn't for those in wheelchairs either).

You can certainly see Arches from your car or with very little hiking--you won't be able to see Delicate Arch though or go too far away from your car to see any of the other arches.

There's not a whole lot to Grand Staircase---I recall there being a visitor center and not much else. Maybe that was Capitol Reef. In any event, after a while, they all sorta run together (as you can tell... )

I really liked Black Canyon of the Gunnison. No hiking needed, you can see pretty much everything from you car and from the visitor center. The color contrast between it and every other canyon you'll see in Utah is striking (one's a dark bluish/blackish stone, the others are mostly red). I don't know if I would go totally out of the way to see it though, and it is a bit of a drive to Montrose from Moab.

At the time of our trip (a few years ago), the Hampton Inn seemed like the best place in town in Moab, but it had only been opened for a few weeks (perhaps a month or two)---even still, you could see upkeep was going to be an issue for the place. Not sure how it is these days.