Coming across Colorado on I-70 you will have one high pass just west of Denver. Motorhomes travel it all the time. Just expect that you will be shifting down and not going very fast on the up hill leg. As for going from Moab to Zion----there is no straight line. Don't know how much time you've got. The quick way would be to go back to I-70 to I-15 and south to Highway 9 north of St. George. Another route would be two lane but interesting. South from Moab on 191 to 163. If you have the time visit Monument Valley. Go across northern Arizona on 160 and then north on 89. Continue on 89 to Kanab, UT. Choices at Kanab---back south on Alternate 89 to the north rim of the Grand Canyon. Continue on 89 to east entrance to Zion. This will require you to go thru the tunnel. There is a charge for motorhomes and you are held because for a motorhome it is a one way road and they only allow motorhomes at certain times.. You keep to the center. Doable and interesting. Another option is to come south out of Kanab on Alternate 89 to 389/69 at Hurricane, UT. From there to the west entrance. Check RV parks in Springdale or in the National Park.