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Drive from Yellowstone to Rushmore

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Need some help with this part of our trip. We are checking out of Canyon Lodge on a Friday and heading to Rushmore. I've read that Beartooth is a must drive. We do not need to arrive in Rushmore until Sunday. Recommendations on how to get to Rushmore, where to stay and what to see? Ideally I'd like a little more time at YNP so perhaps spend the morning in the park and leave early afternoon? Any thoughts and assistance are appreciated.

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