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Camping Summer of 2015 Yellowstone? Yosemite? GT?

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We are wanting to plan a trip in the summer of 2015. We can be flexible on dates, from late May until middle August. We will be driving from Arkansas, and will probably spend a night in Colorado, and not sure on our route home....

But where should we camp? We've got 3 young kids ( 7,6,3) and camp locally often, and have camped at the GSMNP among others, but haven't been this far west. Neither my husband or myself have ever been.

Looking online in Yellowstone the Canyon Campground looks like a good spot.
Should we in a central palce the whole time and explore just Yellowstone? Should we move around campsite within Yellowstone? Should we do a few days in Yellowstone then move to the Grand Tetons?

Activities we like: picnicking, would like to see the geysers, hiking, just normal scenery, the kids are used to camping and hiking. Would love to see some wildlife, maybe do the Wild West dinner thing. Not sure.

We could be gone up to 10 days with 2 day driving time there, and 2 days back so we could have 6 full days vacationing. Thoughts??

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