Take the Ross max scenic dr down to Santa Elena Canyon, then you can drive the old river road around south headed east to back gap rd then up to form springs rd. There's one place on black gap rd where you might need a 4x4 (unless it is raining or has been, then you may need it a lot) then take Glenn springs rd up to park rd 12, and back around. It's about a 4-5 hour drive but mostly gravel road with very cool geology and views of the Chisos. Warning, this will be HOT in summer.
Definitely also drive up into the Chisos basin and have a look around. Most of the best day hikes in the park start up there. It will also be tolerably cool up there.
The drive down highway 170 west of Terlingua/Lajitas is very scenic. Stop at the overlooks. Drive at least as far as the closed canyon trail. HIKe THIS TRAIl. It is short but very cool.