Glenwood Springs hot springs is definitely a good stop. It's an easy exit from I-70. You can also do some hikes here. An easy option is following the walking/bike path that runs along the Colorado River under the highway.
I would also recommend driving Loveland Pass. When you come to the tunnel on I-70 about 90 minutes west of Denver, take the US6 alternate route. It's a bit longer, not too much, and gives you a great panoramic view. It's an easy drive. You cross over the pass just under 4,000 meters. You can do a short (or long) hike here, but do note the altitude.
We like to stop at the top of Vail Pass at the state's rest area. Good for stretching the legs and answering nature's call (plenty of brick and mortar and port a potty restrooms). Pretty view, but not of Vail itself there. You can also hike around there if you want. Not a heavily forested area, though. Be aware of the high altitude and take it easy should you hike there.
I like the idea of stopping by turnoffs in Glenwood Canyon. I've seen folks stop by and picnic, rest, and even fish! Just be sure to do so before I-70 becomes a two lane route through the canyon. The better stops are before the two lane stretch, and after the road returns to standard four lane Interstate form, the good parts of the canyon are over. I love the "No Name" exit sign. . . but have never exited there to find out what's there.
Also, consider stopping by the beginning of the Colorado River past Glenwood Canyon. Very photogenic and fresh rushing mountain stream when you first encounter it on Interstate 70. Afterwards, it slows down the pace and becomes much more placid. Stop at the first or second time you see the river. . . you'll be glad you did!
I second what Tumbleweed and Underdog said - in particular taking route 6 over Loveland Pass.
One note about Loveland Pass - you will be driving up and down some switchbacks with no guardrail and minimal shoulders at a few places for short stretches. If this sort of thing doesn't bother you, it is well worth the detour. Stop at the top at the continental divide - there is a parking area.
I recommend the Betty Ford Alpine Gardens. It's free (donations accepted) and is nice easy walking so helpful in acclimating, and you get to see whatever wildflowers are blooming seasonally in a lovely setting. A great break from driving IMO!
Yes, the Glenwood Hot Springs Pool is a large swimming pool which uses natural hot spring water. There is also a therapy pool.
There are numerous springs along the river in the area, but none that I know of easily and safely accessible like the ones at Mt. Princeton Hot Springs.
The Yampah Spa and Vapor Caves is a unique spot. Hot spring water flowing along or under the floor of the caves creates a natural sauna/steam bath, the only natural vapor caves in North America, they say. This place was-still is, I guess--sacred to the Ute Indians. The vapor caves were closed for a while because of high runoff forcing water levels to rise in the caves and you can't really wade in 125 degree water. I don't know if the caves are open yet but the spa is open and offers mineral baths in the hot spring water.
regarding the pool size, basically yes. But it is still fun. The cooler (warm) pool is huge. the width of the cool pool is the length of a small pool (the local swim team races go the width, not the length). The very hot pool is smaller and a more manageable size. http://www.hotspringspool.com/
Also, for side trips in Glenwood Canyon roadside turnouts, Hanging Lake is popular http://www.visitglenwood.com/hanging-lake and just last week was declared a National Natural Landmark www.denverpost.com/breakingnews/ci_18279469
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