SD does have the Black Hills, but few of the roads go up and over them. Some wind through valleys. But unless you want to see certain sights you don't have cross the Black Hills.
SW Wisconsin, and neighboring Iowa/Ill/Minn has old rolling hills. So you will encounter grades when crossing this area. The Mississippi River is in a deep (for the area) valley from Minneapolis to northern Illinois. So roads that drop from surrounding flat lands to the river will have grades. I90 climbs 400 ft on the Minnesota side of the River. The bluffs around Devil's Lake (WI) are about 400ft as well.
There's also a bit of a grade when crossing the Missouri River on I90 in SD.