I don't remember a cemetery, but the area you describe sounds like the Red Desert/Wamsutter area. Also just east of Rock Springs is similar.
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That area is mostly flat. This is driving me crazy. I do believe the cliff I am looking for is just a pocket of vertical cliff surrounded by normal sloped terrain. I remember it being a surprise when I saw it.
I ended up watching three videos from a car driving across 80 from Wyoming to Reno and never saw what I was looking for. I am completely baffled as to why I cannot find it on a map. I finally had to stop looking for it as I was getting obsessed with finding it.