White Rim is a wonderful trail and camping experience, but camping is by permit only. Worth a check because there can be cancellations, but you generally have to get a permit months in advance. The trail is roughly 100 miles long, and can be run in a day but then you won't have time to stop and enjoy the overlooks and side trails and hikes. And yes, no dogs allowed. There are doggy daycares in town.
One alternative is to head up to Island in the Sky, then divert off to the Shafer trail and go down the famous switchbacks. Then you can do a portion of White Rim to Lathrop Canyon, which is a fun little run down a wash to the river...although the view at the river isn't all that much due to the tamarisk. You can also stop at Mussleman Arch and walk across it. Then head back toward town on Potash Road along the river, maybe going up Long Canyon if you have time.
Get the Charles Wells Moab trails guidebook if you don't have it.
Now, as to Arches, turns out there is a 4x4 trail there, I noticed it on a map and a few of us did it last year. It doesn't have a name, but it is pretty fun actually, and of course includes a couple of arches along the way. This is Tower Arch:
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