I think so. About 80 miles from Jacob Lake and NR is further. For Vermilion Cliffs I will need to be there for a permit drawing in the morning and it could take a few days to get one. Like the idea though. I think I saw a post that several people really liked Jacobs Lake. I just found something that indicated you can boondock on the AZ side of Grand Escalante. Link to safety video on Vermilion Cliffs has great video of scenery.
https://www.youtube.com/watch?featur...&v=y8UsjSWXWLU
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Roger and Patty 
TM:2006 2720SL
TV: 2010 Tundra w/ tow pac.
Dealer Options:swing tongue, sink cabinet, awning, air conditioning, tile
Modification: 15“ tires & monitor system, WDH, Prodigy B.C., 2-6 V. batteries & clipper monitor, LED's. Additional modifications can be seen in albums.
Pictures of campsites and places we visited can be seen at https://www.flickr.com/photos/101899116@N06/sets/.
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