I40 is definitely the better choice. Get off I40 in Topock and take the Rout 66. You may see a shotout at noon time. Grand Canyon is a 'must'. But take the time to see the slot canyons in Antlope Canyon. If you have enough time, try to see Canyon Lands and take the ride at the conyon ground as well as the one that leads the top of the plateau. Arches NP is very close. Stop in Mesa Verde.
Here are some picture of some of the places flickr.com/photos/fpajonk
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