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Minneapolis to Yellowstone National Park - Fear of Heights

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With a fear of heights, I am planning a trip to Minneapolis to YNP. I do not like to drive near drop-offs, cliff edges etc. Rolling hills, bends, ups and downs are fine.

1. If we decide to drive from the Twin Cities area, what is the best route - the flattest.
2. If we decide to fly in, which is the best airport & YNP entrance are best for people like me?
3. How is the drive inside the YNP itself? Too scary?

thanks.

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