Yellowstone I would allow one day for the lower loop, one day for the upper loop and a day of rest in camp, short hike, etc. You will not see it all.
Two full days in Teton is probably enough (3 nights)
Long drive back to Rushmore, I made this a two day drive to avoid a marathon and see something along the way. One full day at Rushmore is plenty (two nights). This will give time for the kids to get their junior ranger badges, enjoy the self guided audio tour (get a headset for everyone), and time to return for the evening ceremony after a nice dinner. There are some historic towns and a steam train ride if inclined but that would add a second day.
Just some random thoughts, have fun!
