Hwy 9 goes right thru Zion.This time of year you can also drive up Zion Canyon from Canyon Junction to Temple of Sinawava. Most of the year you cannot do that because of the manditory shuttle during peak visitation months.That offshoot of the main canyon is accessed by Hwy 9.
Once you drive thru the tunnel after the switchbacks leaving the canyon on Hwy 9, be sure to stop at Canyon Overlook. Its a short walk to see the canyon from above. This is the easiest way to get a birds eye view of Zion without a steep hike out of the canyon.
If you take Hwy 9 thru the park, you will need to pay the $25 entry fee, but it is good for seven days if you return on this route.
You do have a Wave permit, right?
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