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Seattle directly with fun stops to Minneapolis, via Badlands

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I have been to Tetons and Yellowstone. I have 9 days to get to Minneapolis, and I scheduled 3 nights in Custer, SD. I don't like driving more than 5 hours a day, but I will if I have to.

I'd like to stop somewhere wonderful in Idaho for one night then push on to somewhere great in Montana for one night, then on to Badlands and finish in Minneapolis.

So:
*Where should I stop in Idaho? I am trying Coeur D'Alene but all the good hotels don't seem to have space for the 5 of us (including 3 young to old teenagers).
*Where should I stop in Montana? Do I need more than one stop?
*Do you think I can reasonably make it all the way from Custer or Mt Rushmore to Minneapolis in one day?
*Where might I stop after Custer/Mt Rushmore before Minneapolis for one night, if necessary?

Thank you!!

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