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Short trip to Grand Teton, Yellowstone and Mount Rushmore- Need advice

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My husband and I are planning a quick trip in mid-July so we can see the "highlights" of these Parks as well as the scenery of this part of our Country. We will be leaving Salt Lake by car Monday early evening and plan to stay overnight in Idaho Falls. We will arrive in the Jackson Hole/Grand Teton area on Tuesday. Our thoughts are that we can get a flavor of those parks on Tuesday and part of Wednesday, drive to Yellowstone on Wednesday and spend part of Wednesday and Thursday at Yellowstone. All we really want to do at Yellowstone is see Old Faithful, anything else would be extra. . On Thursday early evening we will start driving to Mt. Rushmore, and stay in Gillette.
Friday we will end up at Mr. Rushmore to get there at night, and spend the night in Rapid City. We fly home mid-afternoon from Rapid City on Saturday, so we can go back to Mt. Rushmore Saturday morning.
I know this is a crazy, rushed itinerary, but that is what we want to do. We know there is a lot of driving, and not much relaxing or down time in the parks.

At this late date, we cannot get reservations at any of the lodges in Yellowstone or the Grand Teton park. Does anyone have good suggestions for nearby lodging? We are not campers or backpackers and like our creature comforts. We have reservations at the Alex Johnson in Rapid City, but I am getting a bit antsy because of mixed reviews on various websites.
Thanks for any help!

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