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From Minneapolis to Yellowstone

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I am planning a trip for the first 2 weeks (or less) in August and would love some advice on a few things. The starting point is Minneapolis, what I would like to include in the trip is:
*Badlands
*Custer State park
*Mt.Rushmore
*Devils tower
*Yellowstone--old faithful
*Grand Tetons
I am wondering from those who have taken the trip whether or not to add Big Sky, Wall drug and Jackson hole. Or any other suggestions on things not to miss. Our kids 13 and 19 years old will be with us.
We would like to do horseback riding, see some hot springs and do white water rafting and would appreciated advice on the best places to do these.
Also I would love input on places to stay overnight at--I know at some you need to reserve ASAP. I am trying to keep the cost as low as possible, but willing to pay to stay at a clean, safe place.
Which roads would be best to take there and back and which entrances are best to go into Yellowstone?
Thank you so much!!

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