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Road trip from Milwaukee Wi, to Mt. Rushmore, to Fargo ND--tips please

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We are traveling next July from the Milwaukee WI area heading to see Mt. Rushmore. What would be the best route & stops along the way. We love a good road trip & will be traveling with children ages 7,9, & 17. I am a major planner and like to make sure I don't miss out on anything worth seeing along the way. Which city near Mt. Rushmore would be the best to stay a few nights? We then are headed to Fargo ND for a weekend wedding--anything a must see/do on the way to ND? What route is best going to ND? Any ideas and tips are helpful. We also like to know any great places to eat as well. We probably have 5-7 days to travel the SD area and spend 3 days in fargo. Plans are pretty flexible. I know it is far in advance, but I like to get all the information so I can budget the costs & make any reservations. We have never traveled west of MN before. Usually our road trips lead us to Disney:) Thanks!

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