You can drive the MH thru the badlands loop. Stop and see the corn palace in Mitchell too. That is a long trip so you will not have much time for sightseeing along the way. You can stop in Wall and see Wall drug for a break too. I can make western Iowa in two days from VA and those are 10 hour days. It is another ten to Sturgis from there. The issue is that if you have three back to back days like that it will be hard to see much. The choke points will be around Chicago. You can lose a couple hours. Might want to build in an extra half day. Leave Tuesday night and get 200 to 300 miles done. Makes the next three days easier.