First, please take a look at https://amyl.smugmug.com/Backpacking/UT-OR/200904-Escalante-River/ for a trip report of a transit of the Escalante River Canyon. Obviously how far downstream below Coyote Gulch you can go depends on the level of Lake Powell, but currently the lake is down more than 86 feet below full pool, making many lower side canyons accessible.
There is no need to consider packrafting on the Escalante unless you really luck out with a high water event. Otherwise, packrafting there is mostly raft pulling across sandbars, through shallows, over rock obstructions and around half submerged trunks of dead russian olive trees. The river is easily walkable from one end to the other as long as you don’t mind getting your feet wet.
Fool’s is accessible from at least three points: from the Escalante itself and from both north and south rims on old constructed cattle trails. The upper reaches of Fool’s all end in pour-offs and you cannot reach the rim from within the canyon at these points.
Steve Allen’s books are the best source of information about hiking in the Escalante area and we have field tested many of his routes and found the book’s descriptions to be accurate, insightful, and very helpful for trip planning.
Planning a loop hike in Escalante is simple as travel across the uplands between any of the side canyon entrances to the main canyon is easy as long as you know how to navigate across trailless terrain. Just pick any side canyon, go down to the river, hike the Escalante to another side canyon, go up it and traverse back to your car.
James for Amy and James