Zion National Park is one of my favorites in Utah. We highly recommend renting a car to have the freedom to explore the areas both in and around the park. The park itself is quite small. You can jump on their shuttle to enjoy the scenery in a more relaxed setting and then jump off at any of their stops to enjoy a hike.
The hike to Observation Point was our favorite. This 4-6 hour hike offers incredible views over all of Zion. The views change throughout the hike as the trail climbs steadily. Take your time to enjoy the views on the way up and to go easy on your knees on the way down!
Staying in the Star Gazer Tent at Under Canvas was well worth the extra money. When we returned home, we missed the view of the stars from our bed! Just a 30-40 minute drive from Zion National Park is Kolob Canyons. You can drive through this park in your own car or enjoy one of the many hikes. You’ll have more freedom in this area with your own car as opposed to the shuttle provided in Zion National Park.