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I can not comment about doing both in a day, however I will say not to rush through Arches NP. Not only is Arches beautiful, but there is quite a lot outside the park worth your time. I would recommend a Jeep rental for a day and take the Shafer Trail from Moab to Canyonlands, spectacular scenery.
Enjoy your trip and take your time if you can, it is worth it IMHO.
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