Best way to stay off Interstates. From FL to Rapid City, SD

For starters, there must be hundreds of routes starting from "Somewhere" in Florida to Rapid City,SD even avoiding St. Louis, MO and E. St. Louis, IL. and Kansas City, KS. and Kansas City, MO. And I don't blame you for wanting to avoid them. I try to avoid any city or town that sits on the border of two states. I spent several hours trying to get through St. Louis, MO/IL. and I won't do it again.