The best view is from the Hickman Bridge Trailhead parking area, about two miles east of the visitor center on Utah 24. The lot has auto parking, limited space for RVs, and a vault toilet. You can also see the formation from nearby road pull-offs and from several trails, but you do not need to hike to a summit to see Capitol Dome.
The dome-like profile is clearest on the eastbound approach; heading west, the fins do not read the same way. Late afternoon shadows bring out their shape. For a photo, keep the Fremont River in the foreground and give the pale rock room against the darker canyon walls.