Thanks all for the responses.
It will definitely be a lot of driving. I've done tons of trips from NJ to Orlando FL. I've done those trips straight through with stops for gas, food and bathroom breaks in my wife's GMC Yukon XL. We've done several trips to Maine, Vermont, NH and also went to Nova Scotia in 2014. Big difference on this trip will be driving an RV instead of the GMC Yukon XL.
We're leaving this Thursday and are aiming to be back by 8/22. I wish we had more time but am unable to take off more time from work. I figured it's better to try and enjoy the 2+ weeks off rather than not go at all.
We're going to be stoping at Badlands, Mount Rushmore, Custer, Cody, Yellowstone, Grand Teton and on our way back home Indiana Dunes. We have reservations so can't do much more on our way to Yellowstone, but coming back home we have an extra day (or so) to play with.
Thanks again and please keep suggestions coming