We are planning Minnesota to Yellowstone this September, different route, so not all will apply to me, but I am still going to watch this post and absorb all the info I can :)
We did Custer State Park "Game Lodge" campground and Rushmore last September and we loved it. There are a few roads in that area that are NOT RV friendly like the "Needles highway" and "Iron Mountain road", we explored those without the camper in tow ;) The "wilderness trail" in Custer is a must, its terminus on one end is right at the "Game Lodge" campground, so we ended up driving it like 5 or 6 different times since it was so close and it was so cool ;)
The "wilderness trail" and parts of "Iron Mountain" and "Needles" are IN the park, and as such require a paid park pass, but if you camp in the park, you would have one of those anyways.
