I'm quite fond of Jacoby Canyon for such a thing. I used to take my wife daughter through Jacoby when she was about 4 in our Grand Cherokee (2" lift). Heck, my in laws did it in their stocker 4Runner and my mother-in-law is NOT wheelin material.
Anyway, I like it because it is not just a fire road but it is still very easy, scenic and you still get that remote, deep in the woods feeling. I also always liked doing that one "backwards", from HWY18 up, then connecting with other roads and trails in the area. Look it up on a map you'll see what I'm talking about.
Good luck and have fun!
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Clarks Summit and Skyline Drive on the south side of the lake are very scenic and easy, slightly more than a dirt road.
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IIRC Holcomb Valley - not Holcomb Creek - is a nice easy dirt road with about a dozen signs along the way at points of interest. Pretty sure I got a guide book at a ranger station that told about the area and significant events. But that was 18+ years ago with my infant daughter in a stock 94 4X4 Blazer. It was a fun day.