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Vegas to Grand Canyon to Zion to Vegas - too much driving?

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I'm trying to plan a trip combining Vegas, Grand Canyon and Zion, and the route I've come up with goes from Vegas to the GC south rim, spend a day there on the shuttle etc, then next morning on to North rim, with a day there, then next morning on to Zion. Does this sound doable? I have old folks with me who won't do any hiking so it's mostly going to be various stops to take pictures and then moving on. I'm mostly concerned with how to get to the North rim from South rim - nps.gov says it's 212 miles! After that, would I still be able to do some sightseeing at the North rim that day?

Also, I thought I'd enter Zion from the east on Hwy 9, then drive through and on back to Vegas, stopping in the village for the shuttle ride. Is that possible at this time of year - do they allow private vehicles in the tunnel on Zion-Mt Carmel Hwy?

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