We just returned from a similar trip minus Glacier.
As stated earlier, Rafter J Bar Ranch in Rapid City is awesome. We stayed in the Ranch Camp, which was just beautiful. There are several different bays...some with more trees, some with less, and some further/closer to the amenities.
We ended up loving the Grand Tetons and wished we had scheduled more time there. The Colter Bay RV Park is very nice and super convenient to the park. We rented canoes on Jenny Lake and had a lovely time.
Jackson is about an hour's drive out of the park. It's a nice little town, but we were glad to be in the park. We enjoyed MacPhail's Burgers in Jackson. They're a little pricy but amazing. The french fries are fresh cut and delicious.
I also second the idea of making a stop at the Devils Tower if you can. We stayed at the KOA which has a view of the tower.
We ended up really enjoying the Badlands. We hadn't planned on staying there originally and were super glad we did. It's a little hot during the day, but if you can manage to stay until evening, the views are really beautiful. We stayed at the KOA. It's out of the park but has more shade than the campground in the park. There's an awesome little store on the route where you can feed prairie dogs. I think it was called Ranch Store. Our boys LOVED this.
If you have any questions about our trip, I'd be glad to answer them.
