I concur with saddlesore's suggested route. Interstate most of the way.
Another quick but worthy stop is the Kearney, Nebraska Archway museum. It's a great history lesson for all ages, about the westward expansion of the US.
We stopped last summer at the WWI museum in KC. Street parking was easy, and this is a very well done exhibit. They have some great interactive things for kids, too.
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Life is better when you cry a little, laugh a lot, and are thankful for everything you've got!
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