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Southwest South Dakota (SWSD), home to Badlands National Park, Wind Cave National Park, Jewel Cave National Monument, and Mount Rushmore National Memorial, is a treasure-trove of geological, cultural, and scenic adventures. In addition to places listed above, Devils Tower National Monument (just across the border in Wyoming), the Deadwood Historic District, Custer State Park, and the Crazy Horse Memorial are all easily accessible. This is the kind of place that, no matter how long you were there, something new would always be at your fingertips, ready to be discovered. Below is a sample itinerary, all items flexible:
Day 1, 8 AM - Leave Salt Lake City.
12 PM - Stop for lunch, most likely in Rawlins.
6:30 PM - Stop for dinner, most likely in Hot Springs.
7:30 PM - Arrive in Wind Cave. Camp at the Elk Mountain campground.
Day 2, 8 AM - Head to the visitor center. Reserve a cave tour, both at Wind Cave and Jewel Cave. Explore the area and possibly do a short hike.
9 AM - Go on a cave tour.
11:30 AM - Head to Jewel Cave. Stop for lunch on the way at Pringle or Custer.
1 PM - Take a cave tour at Jewel Cave and explore the visitor center.
3 PM - Head to Rushmore National Monument. Possible stop at Custer State Park and/or Crazy Horse Memorial if there is time.
4 PM - Explore Rushmore.
5 PM - Leave for Badlands. Eat dinner in Rapid City or another town along the way.
7 PM - Arrive in Badlands National Park, camp at Cedar Pass Campgrounds.
Day 3, 8 AM - Start with exploring at visitor center.
9 AM - Do a shorter trail like the cliff shelf nature trail and/or window trail.
10 AM - Continue taking the Badlands Loop Road, stopping at various overlooks and trails along the way.
12 PM - Drive out of the park, stopping at Wall for lunch.
1 PM - Drive toward Devils Tower.
3:30 PM - Arrive at Devils Tower, get campsite.
4 PM - Go to the visitor center. Then, do the tower trail (1.3 miles). Then, check out the Prairie Dog Town.
6 PM - Back to camp, eat dinner.
Day 4, 8 AM - Drive home to Salt Lake City. Stop for meals along the way.
9 PM - Arrive in Salt Lake City.
The prairie broken up by the colossal and other-worldly intrusion that is Devils Tower.
Total drive time: ~24 hours
Trip length: 4-7 days

Other things to see:
Wonderland Cave
Rushmore Cave
Black Hills National Forest
Scotts Bluff National Monument, NE
Agate Fossil Beds National Monument, NE
Deadwood Historic District
Custer State Park
Crazy Horse Memorial
Minuteman Missile National Historic Site
Wall Drug (wacky tourist place)
Sturgis, SD

The 50 state flags with Mt. Rushmore in the background.