Depends on how much you get out of the vehicle and walk trails and so on.
Badlands 2-4 days
Rushmore - 2 hours
Wind Cave 1 day (but there are two caves so a day each)
Crazy Horse - 2 hours
Devils tower over night and a walk around the tower.
You can spend 2 weeks at Yellowstone and not see half of it.
Tetons- 3-5 days
Almost the same at Glacier but the weather is a big factor there, we've been three times and it rains most days that we were there, every time. Plan a week anyway, stay on the east side.
Consider the water temp at Yellowstone and Glacier before canoeing. Falling in the drink is a major emergency in those lakes.