Good question.
You can enjoy it. There's plenty to do, pick the right trails, these are from my memory and I have only been there twice.
Onion creek has one 50' bridge, but it's mostly just a graded road with a few <1' deep wet crossings.
Chicken Corners only has the one thin spot maybe the last 250', but you don't have to drive all the way because beyond that squeeze there is not much left. You can stop at Hurrah Pass which is about the 2/3rds point and turn around.
Getting to Gemini Bridges from the bottom requires driving on a shelf for about .5 mile (and it will be on the drivers side).
Long Canyon (going downhill) the steepest part is right at pucker pass, it's short steep with a sharp turn to the right about 3/4s the way down. The road is wider than the shelf section leading up to Gemini Bridges and when driving you are concentrating on what's in front of you not whats out the passenger door. It's scenic.
Rightseatsis took me through Bartlett Wash and it's flat.
Take a day and drive up through Arches NP, 95% of the roads are paved, sunset is gorgeous, but then you'll be missing the evening activities kicking off at Slick Rock.
I would stay off Fins and Things, there are places where you look out either door to nothing but sky. The upper part of Schaffer Road switchbacks and the shelf road out to Musselman Arch are narrow. The drop of is on both sides of the vehicle.
Purchase the book from FunTreks, Inc recommended by HandleBars and sidriptide "Guide to Moab, UT Backroads & 4wd Trails" by Charles A. Wells I paid the extra $5 to get the spiral bound version, arrived yesterday and I am really enjoying it. It has and will influence my trail selection, I am leaning towards the trails SE of town in the La Sal Mtns.
See you there.
Tom