My wife and I had been asking locals about Peekaboo Canyon for a few days and they all said the same thing: "Don't take your own car!" So we woke up one morning and called Kanab Tour Company out of the blue. Because it was the off season, they offered us a tour whenever we wanted. It was just the two of us in one 4-wheeler and our guide in another.
Once he decided I knew how to drive our vehicle, we were off through the desert on a thrilling ride. Peekaboo Canyon itself was spectacular. When we were done, our guide asked if we wanted to go somewhere else nearby, since there was no other business for him that day. He took us to "The White Wave", another amazing formation.
I highly recommend the destinations, Peekaboo Canyon and White Wave, as well as Kanab Tour Company.