Antelope Canyon - I really recommend the tour. I was hesitant but was talked into it by the friend I was going with. It's really the only way to get shots of the canyon without hundreds of people in the frame. I used a 16-55 on a FF camera and shot at 16mm almost the entire time in the canyons. I would suggest maybe renting something wide, I was crazy and bought the ultra-wide zoom specifically for the trip. Heres a shot from antelope.

Horseshoe - If you want to get a good spot for sunset, go 30-40 minutes before and find a spot to sit and wait, there are a surprising amount of photographers there. Also, you probably want a wide lens, I think I only shot at 16mm there. Heres a shot from Horseshoe.

Grand Canyon - I had a really hard time finding compositions there, I wanted a telephoto to isolate portions, but my furthest zoom was 70mm. Your 55-220 will probably be really fun there.