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South Daktoka - Sioux Falls to Rapid City (and Beyond) and back

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Four of us are going from Minneapolis to Mt. Rushmore in September for 5 days. The trip from Sioux Falls to Minneapolis is set. Does anyone have any suggested itinerary
for the drive from Sioux Falls to Rapid City?

I've stayed outside of Rapid City before but any suggestions on a comfortable place to stay for a couple of nights in the RC area? I'm not looking for high end but also not focused on price. Clean and comfortable is what we need.

Coming back from Rapid City to Minneapolis are there any cool sites that might not get mentioned in the travel books?

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