Today I just picked up a Utah Trails - Southwest Region By Peter Massey & Jeanne Wilson. It looks promising. I've done Cedar City to Boulder along mostly Hwy 12 & down Burr Trail years ago & want to revisit it now with the jeep. That is some spectacular country if you haven't seen it.
Last yr we did the North Rim from various F S & fire roads & on the way back found what is called "Hobgoblin's Playground" South of Riverside, NV not far from Mesquite. It's down Old Gold Butte Rd. Just West of Devil's Throat. That is an easy trail & worth seeing. Best view of the formations in the late afternoon but could be tricky coming back at night (we were there in the AM). Google Earth has a bunch of photos of the area.