If you need to find camping between Moab and Capitol Reef, then head to the San Rafael Swell. There's a lot of dispersed camping available on BLM land along the San Rafael reef, but the campsite here is one that my husband and I have come back to multiple times because the views are so stunning. Be aware, there are no services available in this area so be prepared to be self-sufficient and pack out all of your waste.

Here are the exact coordinates for the campsite that I recommend: 38°52'48.8"N 110°26'44.5"W