The story
When you're back at the car, this gravel road goes back the way it came. At the highway, go left for Torrey or right for Fruita. The tour picks up on its own.
Photo: Famartin / Wikimedia Commons · CC BY-SA 3.0 (cropped)

Download the tour, leave your phone in your pocket, and let it play itself as you go. Works offline.
Buy the self-guided tour, or get it in the app.