As previously stated, the scenery is fantastic. After Zion you have Bryce, after Bryce you have Grand Staircase Escalante National Monument. After GSENM, you have Capital Reef (and you drive right through it on Hwy 24), then if you decide to head into Moab you can do it one of two ways. At Hanksville turn south onto Hwy 95 then down through Blanding and up 191 into Moab. That way you can also see Canyonlands Needles district, and the Needles and Anticline overlooks.
In Moab you have Arches and Canyonlands Island in the Sky District. Then north on 191 up to I 70.
I have never camped at a commercial campground; however, there are plenty of UT state parks along that route. Kodachrome Basin outside of Cannonville, Escalante Petrified Forest outside of Escalante, Goblin Valley just north of Hanksville and of course, Deadhorse Point just down the fork in the road from Canyonlands Island in the Sky District.
Also, Capital Reef has a decent size campground, off Hwy 24, near the park headquarters. Since Capital Reef is almost never noted due to being overshadowed by Zion, Bryce, Arches and Canyonlands, it never gets too busy. And yet, with a 4x4, Capital Reef is fanstastic to visit and camp in. Problem is their best campground is accessed via a rather nasty trail and normally a test is needed.
Restaurants. Flying Monkey in Springdale, just outside of Zion. Great wood fired pizza and burgers aren't bad either.
Slackers (formerly Dave's) off Hwy 24, Torrey UT, just west of Capital Reef. Great burgers. Torrey actually has quite a few nice restaurants from the Chimney Rock on the western end of town to La Cueva Mexican on the eastern end of town.
When camping I'm more of a burger, sub, pizza guy than any inside sit down type restaurants, but spent some time in Torrey when at Capital Reef area so I did hit more than burger places.
I live in Moab for six years, so I know almost every restaurant there, and there area a heck of a lot; especially since it is one big tourist attraction.
Moab has quite a few good and even a few great restaurants, from Zak's in town with all you can eat pizza to Eddie Mcstiff's, Buck's and Sunset Grill on the high end. Can't beat the view from Sunset though.
Also, those areas get busy in spring and especially Moab after Easter week. (During the week before Easter you have the Jeep Safari week and everything books up quick. And restaurants are packed.)
Guess if you are that close, you might want to do a one-day visit to Monument Valley....