Muley Point
At the top of the Moki Dugway on Cedar Mesa in the Glen Canyon National Recreation Area, high above the San Juan River, there’s a dirt road that heads south off of Highway 261. Take that road to the end and you’ll find yourself with a spectacular view and tons of camping spots, as long as you don’t mind the wind. I’ve been to Muley Point, which is what this lookout’s called, many times and I visit it every time I’m on the Mesa, it’s just a breathtaking area with overhanging sheer cliffs of red that overlook the San Juan River, Monument Valley, and even offers a view of the Henry Mountains, Navajo Mountain, and Agathla Peak! If you drive your vehicle all the way up to the edge you should have 4WD high clearance and be careful not to drive off said edge.
Also, you must not mind the wind. I once came up there on the last days of the year in December and there were campers on the rock’s edge despite the sub zero wind chill with at least 20 mph winds. Some people are way more hardcore than I am. You won’t regret visiting Muley Point though, no matter what time of year it is.