been to all of those and more... except Acadia (nxt Summer for that)
Capitol Reef was the BEST in Ut IMHO, Hwy 12 should be a Ntl Park in itself !!!
Capitol Reef is the least crowded, 1st come, 1st served type camping and has everything all the other Ut Ntl Parks have except the crowds..
Zion is a shoulder to shoulder zoo, like the Grand Canyon... the Kolob Reservoir Rd thru Zion is a very cool drive and I camped at the Reservoir and had the entire lake to myself... of course it was Nov and there was a bit of snow on the ground, you can even drive to the highest point in Zion from it..