you will need to rent a car for two of the most popular scenic drives.
The Needles highway has a tunnel your rig won't fit.
The Peter Norbeck scenic highway/road has three tunnels and two piggy-tail ascent/descents. The tunnels are narrow and have ceilings too low for your rig.
re dining out... I recommend trying a bison burger because bison is every bit as tasty as a cow. but I can't think of any one particular restaurant to suggest.
Keystone, Hill City and Custer all have several eateries to choose from.
The State Park Lodge restaurant is good.