To answer your original question from Delta to Escalante is easily a day trip. There are several camping spots along the Dominguez canyon trailhead. This is a great spot for an overnight giving time to hike up the trail and see the seasonal waterfall (springtime to early summer depending on snow pack on the Uncompahgre plateau. The hike has desert bighorn sheep to see, a great waterfall, petroglyphs to see and lots more. But this time of year it would be hot and dry with the creek a trickle at best. Early spring is the best time to visit this area with wildflowers and lots of water to make the waterfall ripping good. Here is the blm website for that area. www.blm.gov/pgdata/etc/.../blm/.../Dominguez
.pdf But it is definitely not an all day trip. Maybe 4 hours depending on flows. There is an old waterwheel on river left about 1 hour out of Delta. No good fishing in this area.