It sounds like you're planning on taking I-70 between Denver and close to Green River UT where you turn south to Moab. When you leave Denver you start climbing immediately and at the Eisenhower Tunnel will be a bit over 11,000 feet elevation. I recommend turning off your cruise control as soon as you start climbing and downshift so you don't work your engine as hard. At higher elevations the air is thinner and engines don't work as well which is another reason to keep your speeds lower. After the tunnel you'll start descending and it's bit more gradual on the western slope of the Rockies. Watch your speed and don't let it increase so much you have to use your service brakes a lot. Also you'll have better control if you follow the truck speed signs instead of car speed signs. It's a beautiful drive!
Moab is one of our favorite places. If you like to hike Arches has great hiking trails. Be sure to carry snacks and lots of water. If this trip is soon, you can expect it to be very hot - hotter than Virginia but a lot less humid. Be sure to wear sunscreen, a hat and sturdy shoes or hiking boots. Canyonlands has great four wheeling trails and it's always a good idea to go with others on strange trails.
We generally figure an average of 50 mph in the motorhome which takes into account pit stops, fuel stops, traffic, speed limits, etc. Most of us like to keep our daily driving to about 300-350 miles but that depends greatly on things like the weather, construction (it's everywhere this summer!) delays, heavy vs. light traffic, and length of our stops. We both drive the motorhome and like to trade off about every hour (on the advice of my physical therapist who says everyone should stop and move around hourly). Hope you enjoy your trip!
ArdraF