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Black Hills - best one day route & where to stay?

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Coming from the east from MN, we're overnighting in the Badlands before heading to Mt Rushmore area. We plan to have lunch in Rapid City then head straight to Mt Rushmore, then spend the night in the area. The next day we'd like to drive the various highways (Needles, Wildlife Loop, Iron Mountain) before heading toward Nebraska in late afternoon.

Is there a suggestion of the order of the routes to maximize our time & increase chances of seeing wildlife? We'll be getting as early a start as possible with a 5 & 8 year old, and plan to stop & hike occasionally but not for long distances (likely 1 mile max).

Second, is it better to stay in Custer, Keystone or somewhere else? Especially wonder this question in light of hitting the road early. We won't be experiencing nightlife or hotel pool - just need a place to stay that's clean and won't be too noisy. We considered staying in the park, but with my youngest trying to stay dry at night, we've decided it would not be fun to stay in a cabin without a bathroom.

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