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Utah native here. I haven’t been to Bryce, so I can’t give any advice on that, but I have been to both Zion and Arches many times.
Arches is a very drive friendly national park, in that everything is spread out so much that you’ll need to drive a bit. The absolutely must do hike in Arches is delicate arch. Be aware that utah summers are hot, dry, and high above sea level so you’ll need to bring a good hat, sunscreen, and a lot of water. In my opinion, Arches is a good one day visit, but keep in mind that Moab next door is the Mountain biking mecca, so if that’s your thing, you’ll want to check out the slickrock trail.
Zion is a very hiking friendly national park (and my personal favorite). Depending on you fitness level, there are many awesome hikes in zion, from short 15 min kids and grandparents hikes to multiday backpacking hikes. The must do hike at Zion is Angel’s Landing, but be aware that the first half of the hike is pretty physically draining, and the second half is not for anyone afraid of heights. That said, if you can do it you should. Second recommendation is the Narrows, It’s a slot canyon with a river running through it, so it is nice a cool during the summer. Once you are done for the day, make sure to check out the main lodge. It has a beautiful lawn that you can chill on after a day of hiking and enjoy the views.
A final note, if you didn’t realize, Zion and Arches are a ways away from each other, so if you are crunched on time you might want to pick one or the other.
Hope that helps, if you have any specific questions, feel free to ask.