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SD and NE with kids - advice please!

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We live in Indianapolis and are planning a family drive to South Dakota and Nebraska for early summer. We'll be first driving to Minneapolis for a family event, so our actual vacation time will total five days starting in MN and ending up in Omaha before we have to drive back on day six. It will be DH, me and two daughters ages 8 and 5.

We're planning some side stops to Laura Ingalls Wilder sights, since we drive past and my girls would be interested (one in WI on the way to MN, then SD on day one). We're also planning visits to Mt Rushmore and Henry Dooley Zoo, as well as national and state park sights as recommended. So some questions...

1) Which national / state parks are recommended and why?
2) Which are best for wildlife viewing in early summer?
3) Is there a good park where we can rent a cabin overnight? Cheap lodging, no running water necessary, but a "camping" experience without the tents or RV?
4) Any other good, inexpensive lodging recommendations between MSP, Rapid City, Black Hills and Omaha?
5) How much time is suggested for Mt Rushmore with an 8 & 5 year old?
6) From Black Hills to Omaha - any sights to see, or do we make it a long one day drive? We're planning 2 days in Omaha, so a long drive the day before could work.

Thank you thank you thank you!!!

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