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I went on "light" weekend excursions to some of these places. Some thoughts:
1)Sedona/Antelope Canyon may be shorter than Sedona/Grand Canyon? Short hikes, may be less crowded this time of the year. It is less of a grand scale the than the Grand Canyon but lovely lights and shadows during the day and is probably a one-day or half-day hike if you plan it. The GC is also not far from Sedona.
2) Zion: for the Narrows - if the water is not too high, you can rent drysuit bottoms and walking sticks from any number of outdoor companies in the town. It may still be crowded but again, this may be the off season. You have to be a little careful where you put your feet but it is not too bad, unless you are dealing with significant orthopedic or balance issues.
Bryce can be as easy or hard as you want - the Park Service has done a really nice job in making a lot of points accessible.
3) We did a hike to Havasu Canyon - this needs more planning as you have to purchase a permit from the Havasu Nation to gain access. There is a lot of hiking but it is mostly flat land; there can be some rockiness in the gravel/stones on the path. I am not sure if you can hire a mule to take you down or not.
Many parks there.
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