Great company. Jeeps, not T4R's :
UT Overland – Camp anywhere a Jeep will go
BaseCamper Overland Vehicle Rentals
Moab, Utah 4x4 Rentals - Trip Ideas | Colorado Overlander
Jeep Rentals | Camper Van Rentals | Rooftop Tents and Gear
At Arches in particular you need a reservation which IMO, is a good thing. I was there in 21 and what a shit show.
https://www.recreation.gov/timed-ent...%20park%20pass.
So many other places to go and enjoy in the area. A fun and easy but a few dozen water crossings is the Onion Creek area. Lots of dispersed camping out at the end where it connects with Top of the World and other trails.