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You'll need the interstates to save travel time. For us, we average about 50 miles per hour, counting gas, stretch and eating stops. That's driving 65 on the interstates. So, if that holds true for you, 400 miles is an 8 hour day.
Western South Dakota is on Mountain time, which is great for traveling west, not so great when traveling east. (Going east, we change our clocks before we go to bed.)
Opinion Alert! You may not want to think about this, but if you are doing 3 rigorous days out and 3 rigorous days back, and just 5 days in the Black Hills, you might want to leave the camper at home and take your car. We had a similar trip a few years ago, and although we love all the benefits of having your own bed and kitchen, the car was a better choice for us that time. Saved a lot in gas and campgrounds that trip, spent on motels instead.
That was our personal experience, your results will vary.
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