In your given order here is the route you'd take and you won't have any issues on any of the roads. I-40 can be rough but it's the best way for you to go. :
Hot Springs, AR to Monument Valley:
I-40 west to Gallup, NM then 264/191/163 to Monument Valley
To Sedona: Backtrack to Gallup, NM then I-40 west and south on I-17 to 179 into Sedona. (You could stay on I-40 and pick up 89A into Sedona but you should read about it first. It would be a steep, curvy downhill but very doable with your RV. We've done it with our 40' MH)
Sedona to Petrified Forest - back on I-40 east to Holbrook. Take 180 south a short distance to the Petrified Forest Gift Shop (could spend an overnight here and tour the NP Rd with your truck & return to the RV. Travel the road fully and it will take you to the end at I-40 again. There are places on the park road to explore.
To Arches: East on I-40 to 191 north
To Mesa Verde NP - 191 south to 491 to CO 160
Mesa Verde to Albuquerque - 160 east to Durango (worth a stop and even a drive up to Silverton in your truck which is awesome! (We've boondocked up there a lot with our 40' MH). You could even pre-arrange for the Durango to Silverton train for a day excursion. From Durango take 550 to Albuquerque.