I admire your enthusiasm to go camping and see the country but....when you say one night at some place when does that give you time to see anything? One night for us is just a passing through stop over. If you want to see things then its a 2 night stop at least. How many full days have you allowed to see things? Think about that.
Just because the speed limit on the roads up in SD and WY are 80 mph doesn't mean you have to go that fast either especially when towing. You have your family in the vehicle remember.