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Camping and Hiking Arizona and Utah

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I am hoping to see (at least) Horseshoe Bend, Antelope Canyon, and Zion National Park. I have a week at the beginning of July. I have road tripped with my ex out that direction in the past. We had weeks at a time and we drove/camped the entire time.
Only having a week I am looking for suggestions:
RIght now it is cheaper to fly into Phoenix over Vegas. Is there somewhere else I should look at?
Are there places to rent SUVs specifically for camping and traveling through these Parks?
I may be by myself for this trip and would love suggestions of places to camp and hike and see, that would be safe to be on my own.
I felt very safe everywhere I visited out there in the past (Sedona, Flagstaff, Moab) and expect to feel the same, but this will be my first experience doing it on my own.
Thanks for your thoughts.

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