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Distance and best route from Rapid City to Tetons

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My huband, son, and I are flying to Rapid City for a week for the purpose of sight-seeng. Is a week too long to see the major attractions such as Mt. Rushmore, Custer State Park and the Badlands? I would like to go to Yellowstone. Is it feasible to do all that in a week? If so,what is the best route or would it be better to try to get a flight once we are there to a place closer to the Tetons and Yellowstone? Are there adequate accommodations along the way? What highway should we take if we drive? Thanks for your advice. CSG

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