I just came across this thread today. Awesome trip! Looks like you guys had a great time.
I'm woefully late in providing any input, but did you end up going through Southern Utah?
On my list of upcoming trips is a return to Capitol Reef for one reason: Burr Trail Road. Just in case you ever find yourself back in the area...
Notom-Bullfrog Road - This is where the route starts from Highway 24. Notom-Bullfrog starts just East of the CRNP visitor center and runs South along the East side of the Capitol Reef spine giving cool views from the other side of what you would see in the park. The first few miles is paved before turning into a dirt/gravel road. You then turn West onto Burr Trail road.
Burr Trail Road - This road starts with a kick. It has some extreme switchbacks that climb up (about 800 feet in 0.5 miles

) over the spine into CRNP. Although it says it's not suitable for RV's/trailers, as your juxtaposition photos show, I think they mean BIG RV's and trailers. I don't think you'd have any problems on the tight roads with the Golf/Scamp combo. Inclement weather also makes this road difficult in a non-4WD vehicle. It was raining during our trip there, which is why we haven't done this route yet. Burr trail road bisects the park giving spectacular views and access to various trailheads. Once out of the park, pavement returns. Burr trail continues on until intersecting Utah Highway 12 in the town of Boulder.
Utah Highway 12 - This is easily the most spectacular section of road I've ever driven. The day we drove it there was a Miata club having a group run here which should be very telling of how much fun it is. Now couple that with awe inspiring views. Continue South on 12 out of Boulder. This will lead you through Grand Escalante Staircase National Monument. Views, spectacles, and windy roads abound. At one point, you're driving along the crest of a mountain that seems barely wide enough for the road with huge drops on both sides as you descend into the valley. Once out of Grand Escalante, there are a few things to see as you continue on 12; Escalante Petrified Forest state park, Kodachrome Basin state park if you want to do some hiking, and Bryce Canyon National Park.
Anyway, I'm sure you'll find your way back there some day. Your trip report is awesome and inspiring. Thanks for sharing with us.