We stayed at Rushmore Shadows KOA last summer, and it is a great place for kids. They have stables there and a restaurant, and they rent 4 wheelers. We didn't utilize any of that. There was constant traffic and lots of dust.
Without the kids, we moved to Rushmore Shadows closer to Rapid City. Much, much quieter and much more space between rigs. Both are fairly close to all the attractions, but give you a very different experience.
One of our favorite drives in the US is the road along Spearfish Canyon. If you do that, stop and view the 3 waterfalls on both sides of the road.
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