RZR friendly C.G.'s in the Black Hills S.D.

Looking to plan a trip out to the Black Hills area of SD to ride our RZR's. Looking for accommodations for a 38'RV and a 39' 5th wheel. Would like to be able to ride from the cg to the trails without having to trailer anywhere. Our RZR's are not street legal. Friend of mine said he rented a RZR and rode when he was in the Spearfish Canyon area. If anyone has any recommendations it would be appreciated.