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help with black hills trip

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Hi we are coming from mn to black hills and wondering if good idea to stay at badlands nat park the first night or continue on to perhaps rapid city. We are planning on open top tour of black hills that hits all major stuff in an 8-9 hour tour. We decided that eveyone wanted to be able to relax and just view instead of having to drive. The tour is based out of rapid city so dont know if we should base there or hill city or keystoneand just drive back to rapid city for tour. Don't know if we will want to go back to some spots on our own another day. Thank you

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