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Wow, lots of opinions here!
Capitol reef is my second favorite park after west side of Canyonlands. I've spent weeks in there backpacking with my family. Very easy to get far from any other people and the terrain is spectacular, as good as it gets.
To really enjoy the park you need to be able to enjoy walking, not a park to see from the car. High clearance vehicle will give you more options.
A nice drive for normal car I second visiting hells backbone, eat in boulder (the grill!), camp out of town to the east, return to boulder for breakfast, then drive due east across waterpocket fold on gravel road, then spectacular drive north along waterpocket fold to capitol forest park. Lots of great hiking everywhere along that dirt road so spend your days there!
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