What is the best way to travel around the USA?

Any help or advice / tips would be great! We are going on holiday in June/July and our destinations are San Fransisco, Yosemite National Park, Grand Canyon, Monument Valley and Las Vegas.
We have been trying to sort out best / easiest / cheapest way to travel for weeks and have hit a dead end. We dont want a total driving holiday as its too much for one person, a little bit of driving woul d be okay and the coach trips we’ve looked into either dont stop at all of where we want to go or wouldnt be there for long enough. We were planning a couple of night at each place but day trips would be good too if it worked out.
Help please, anyone done this sort of route before, etc?!
Thanks!

I see you are from Britain and can understand why you would think driving would be daunting. However, My partner and I drove from San Francisco, through Reno,Salt Lake city, Denver, Las Vagas Los, Angelos, San Francisco and all points in between recently. Some places we would stay 3-4 days and do day trips. It was a wonderful way to see the landscape and meet the locals.

May I suggest that you do drive? It is not difficult and the roads are great with excellent signage. Car hire is not that expensive and you will find petrol cheaper than you are used to. Food is very inexpensive too.