Grand Staircase Escalante access to trails by passenger car

Are many day-hike trails accessible by car? We'd like to spend two weeks in southern Utah, based in perhaps Kanab, & take moderate day-hikes (3 - 8 miles, no technical skills).

I'm wondering if enough appropriate trailheads are reachable by passenger car, or would a 4WD be needed?  (I'm not averse to dirt roads as long as they're decent -- I've been on some that were very rough.  We'll be in a rental so even cosmetic damage is an issue.)

Same question for Bears Ears, which I understand is little developed for casual visitors.

Also, is Kanab the best base for this?

Thanks very much!

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