Drive through Joshua Tree

I recently visited JT last summer. We stayed in Palm Springs & drove to highway 62 & to the entrance in the town Joshua Tree I believe. The only place we were able to see because of time constraints was Keys View which was beautiful. It was a nice way of getting an idea of what JT has to offer just driving there & seeing all the big rocks etc.

I come out to CA once a year from East Coast & would like to go back. What I've started doing on my trips to CA is not staying in one area but staying in multiple areas which is why I was in PS for 2 days. Looking at google maps I'm thinking of driving through JT park. Starting probably in the town of Joshua Tree & heading through the park towards I10 near a town called Chiriaco Summit. According to google maps it says it would take about 1.5 hours non stop. That to me seems like a realistic commute that would give me several more hours to stop/explore along that particular route.

Based off that particular direction/route is there anything really worth checking out that I'd have time for? I could always venture off that route but probably wouldn't want to go to far but clearly anything within 10-15 minutes is def game on.

Another idea I've thought about is actually venturing off & staying in Twentymine Palms before reaching the other side of JT. Curious as to how that town is? I like historic towns but do prefer chain hotels.

Really open to ideas. I do enjoy hiking & I'm in good shape. The only reason I might not want to hike to far is because I'd be by myself. One thing in the back of my mind when hiking in CA is getting bit by rattle snakes. Would hate for that to happen and I'm by myself and just close to a hospital. I think any hike under a mile I'd probably be interested in especially if it's a designated trail.

Thanks for any help!