Salt Lake City to Moab

Camping or staying in motels?????? Have you booked anything???
Little confused on your plan, you arrive on Friday May 31st, when are you leaving for Moab via Antelope and the crater? Do you plan to do that all in one day?
That's the start of the big holiday weekend, consider reversing it and visit the Crater and Antelope last.
Recommend get out of SLC as soon as you can and get to Moab and get a place or camp spot. You will have a lot of company doing the same thing.

Any place that has wide open west facing view will be good for the sunset.
I would go up to Canyonlands, probably Grand View Pt. over Dead Horse SP for the sunset, of course you have a solid hour drive back to Moab afterward.
Personally I would avoid going anywhere near Arches for sunset, especially on the holiday weekend. It will be a zoo, not sure you could even get in.

If your camping Canyonlands Needles District at the campground is a great place to view the sunset, climb to the top of the rock cropping. Same with Hamburger Rock camping area in the canyon about 1/4 mile past. Climb/hike to the top, incredible views.

Yeah, Delicate Arch at sunset will be a tough one - don't think you're the only bloke with that notion. On holiday weekends Arches fills up early, after that mile-long lines form at the entrance and parking lots are full all day. Its a nightmare. Go see Arches, for sure, but get in early, not late.

You can have nice sunset at any viewpoint in Canyonlands, but its a long detour into the park and back out again just for the view. nothing wrong with that, just FYI. Also FYI, the best sunset spot I've ever seen is the aptly named Sunset Point in Capitol Reef NP. The white cliffs of the Reef face west and catch the setting sun, making for an otherworldly spectacle.

I do have an itinerary and booked motels already. This is actually the weekend after memorial day weekend. I'm sure it's still very crowded this time of year. You think it will be so crowded at Arches that if arrived at 5pm I wouldn't be able to get to Delicate Arch (I'm aware there will be many people but you are making it sound like it's not even possible to get there)?

May 31 - Land in SLC at night
June 1st - Antelope Island, Homestead Crater. Arrive in Moab a couple of hours before sunset (stay in Moab)
June 2nd - Arches (devil's garden loop) (stay in Moab)
June 3rd - Canyonlands and Dead Horse Point (Stay in Goulding)
June 4th - Monument Valley and Lake Powell (Stay in Springdale)
June 5th - Zion (hike narrows, top down)(Stay in Bryce)
June 6th - Bryce Canyon (Navajo Loop) and Mystic Hotsprings (stay in Richmond)
June 7th - Fly home from SLC

Any other suggestions for places to stop or hikes to do are welcome (I've been to Antelope Canyon, Horseshoe bend and Angels Landing).

Agree, Sunset Point in CR is stunning, the sunset glows and seems to last forever.

Your right, Memorial day is early this year.

For your sunset at Delicate Arch, check at the entrance to the park, it's right outside of town. The park really packs em in if you know what I mean, can be lines of cars. Not kidding.
Recommend visiting Arches early, like at sunrise and leave by early afternoon, avoid the heat and crowds.
You already have a busy schedule but if you can after Page take Hwy. 89A via Marble Canyon, add about an hour but is very scenic.

Check out the visitation graph and accompanying information:

https://www.nps.gov/arch/planyourvisit/traffic.htm

You might get in late at Arches, don't even try to get in before 4, but sunset is after 8 in late May so there might be a window there to get in the entrance... but I'm going to bet that of the people staying in the park late, a large number of them are planning to hike to Delicate Arch. The park service website specifically says "Sunset is a particularly busy time; sometimes hundreds of people will be at Delicate Arch for sunset." if you can deal with the inevitable hassles, go for it. The sunset views of the arch and landscape backdrop are justifiably famous.

Landscape Arch at sunset...
I've never done that partly because I don't relish the walk back out. It's easy enough in daylight when you can see the tripping hazards.

Most, find swimming in Salt Lake waters, a disgusting activity ... After securing the auto rental. One needs first navigate SLC airport Lodging, South to Orem traffic. Then drive the even slower 189, up to out-of-the-way Heber. The "Crater" is a resort. One should plan a visit as a relaxing overnight... As there is no reasonable, direct route from Heber to the 191 at Price. You would run out of daylight long before reaching the Moab area ... Devote the entire day to simply drive the I-215 -I-15 to the 6 South, to Green River. Take a lunch break here . Then proceed to the 191 into "camp" in Moab. There, make a plan for viewing the sunset ... Happy trails ... carracar

Checklist tourism. Five parks in six days. Little accounting for travel times between.
Collect luggage and rent car at SLC Airport - 1 hr.
Drive to Antelope Is. 1 hr. Search for bison, dip in Great Salt Lake 1/2 hr.
Try to get salt and gunk off body 1/2 hr.
Drive to Midway past airport 3 hr. Look at crater 10 minutes. Lunch 1 hr.
Drive Midway to Moab 4 hr.
Suggest other interesting places for you to stop.
Get to a sunset view site before sunset. Drive to place to sleep. Eat. End of first day...

Pacificgroove, your post is rude and unhelpful. I’m an experienced traveler that has done multiple national park trips. Maybe my pace is fast for you but it is how I enjoy to travel (I also wake up at sunrise to get he most out of my days). If you don’t have anything helpful to post then don’t reply.