Hiring a guide sounds like a great option for you. It's my experience that the best parts of Moab are tucked away off the beaten path. To see those areas, you either need a good guide or be prepared for some serious adventuring.
I personally prefer to go adventuring myself, but it gets kind of crazy. On a visit to the aptly named Mysteries, we tried to make a loop through the towers by connecting two canyon systems separated by a short traverse. Towers with names like Atlas, the Citadel, and Gothic Nightmare rose above us. Cliff bands constantly frustrated our progress. We ended up getting through via a section we dubbed the "sketchy death traverse". Despite this, (or maybe because of this), the Mystery Towers are now my favorite part of the Moab area. Last spring, I even took my parents there. Once your know the area, it becomes a causal three mile hike in a completely otherworldly landscape.
In short, find someone who knows what they're doing and go someplace special. You'll have an amazing time in a landscape that doesn't even feel like it could exist on Earth.