We've made the trip twice (neither time was with a TM - both were with a pop-up). First time we stayed outside the east entrance to Yellowstone. Really enjoyed Cody and the museums already mentioned. The last time (3 years ago?) we stayed in Gardiner, MT, just outside the North Entrance. In my opinion, that was the best. Very close to the north park loop, and the south loop isn't that far that you can't do it on the second day. US 89 coming south from I-90 at Livingston is a beautiful, easy drive to Gardiner - they call it "Paradise Valley" for a reason.
As far as Rapid City, there's a lot to do there - School of Mines, Natural History Museum, etc. We could spend an entire week in Rapid City. Mount Rushmore and Crazy Horse are both doable from there. As mentioned, don't miss Custer State Park - even if you don't camp there, go through the park.
Regards,
Bob
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