We did the loop last April and it was one of the best parts of our trip. It was an unplanned run too, just looking for places to go between Canyonlands and Escalante.
Most of it runs through BLM land so lots of camping options. We stayed in the official campground around half way round and it was very well laid out and private - only 9 (?) spaces however, so could fill up at busy periods.
We crossed the river at around 2pm, got to the campground at around 6 and then finished at around noon or so the next day, but spent our time at all the stops. Most of it was smooth dirt when we were there, couple of minor water crossings (excluding the first). The only rough bit was around half way round, near the campground due to a lot of small (smooth) rocks in the road surface.
If you can I’d definitely recommend spending the night. The views around sunset and dawn are stunning.