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State park, so there is a fee, but worth it for the view. There's a paved path you can walk for as long as you want as well. Can combine this with Canyonlands/Grand View point - it's on the way.
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In Canyonlands National Park: Epic view over some wild rock formations and mountains. One of my favorite spots - short hikes around the area as well if you want to get away from the viewpoint.
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Not near Moab, but on the West side of Utah - very interesting hoodoo rock formations and worth visiting if time.
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Photo: Luca Galuzzi, CC BY-SA 2.5 Close to Moab, but might need reservations or tickets to get in. The drive through the park is worth it.
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Cluster of food trucks with variety of options.
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Photo: Andrew Smith, CC BY-SA 2.0 Not in or near Moab, but further west in Utah. Considered one of the most scenic drives in the U.S. - Route 12 from Torrey, UT down to Escalante, UT. If time, it's worth it. Boulder Mountain is part of the route.