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Denver to Rapid City SD ideas?

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We will be visiting Denver this summer, then going to Rapid City. In Denver area, we want to stay in hotel or inn at less that 5000 ft elevation. Any suggestions for good accomodations for 2-3 nights in nice town with lower elevation between Denver and Rapid City which would be convenient for 1 day visit to Rocky Mtn. NP? (we don?t want a commercial hotel or motel) Any must do activities/sights along the way to Rapid City? We like scenery, white water rafting, moderate hiking, stargazing, interesting local sights, but mainly outdoors. Thanks!

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