Leave Santaquin around 7:00 AM for the approximately 6.5–7-hour drive to Rawlins, following US-6/US-191 north through Price and Vernal, then joining I-80 east across Wyoming. Expect a long but straightforward road day, with broad desert and high-country views, limited services between larger towns, and possible construction or wind on I-80. Plan fuel and coffee in Price or Vernal, then take a proper lunch and fuel break around Rock Springs or Green River. Keep water and snacks in the car, and allow extra time for restroom stops with three travelers. On arrival, check into your motel, unload, and give yourselves 30–45 minutes to reset before dinner.
For dinner, head to Whitewater Bistro in Rawlins; expect roughly $15–30 per person and about an hour for a relaxed meal. Afterward, take a gentle 45-minute stroll through downtown Rawlins, where the historic core and Union Pacific-era buildings make a good leg stretch after the drive. Parking is generally easiest on the surrounding downtown blocks rather than directly in front of busy storefronts. Keep the evening unhurried—most places wind down relatively early in this part of Wyoming—then return to the motel to prepare for tomorrow’s longer eastbound drive toward Devils Tower.
Start at Wyoming Frontier Prison Museum in Rawlins when it opens—typically around 9:00 AM, though September hours can change, so confirm the schedule before leaving your motel. Allow about 90 minutes for the guided tour through the former penitentiary, including the cellblocks and gallows. Afterward, drive roughly 35 minutes east to Seminoe State Park near Sinclair. The reservoir, sagebrush, and wide-open high-desert views make this a worthwhile final Wyoming stop; bring water, and expect a small day-use or entrance fee if required. Keep this visit to about 1½ hours, since the Devils Tower leg is long.
Leave Seminoe State Park around 12:30–1:00 PM with fuel and snacks topped up—the next portion is remote, with limited services. Continue east through Wyoming toward Devils Tower, arriving around 5:30–6:00 PM. Park at Devils Tower National Monument and walk the approximately 1.3-mile Tower Trail, an easy loop beneath the granite monolith. Late afternoon is ideal for softer light and fewer visitors, but check the September sunset and avoid lingering if storms build; admission is generally charged per vehicle, and the visitor center may close before the monument grounds.
After the walk, spend about 45 minutes at Devils Tower Trading Post, just outside the monument, for local crafts, souvenirs, and a casual snack. Then drive about 20 minutes north to Hulett for dinner at Ponderosa Cafe. Expect hearty western-style plates in the $15–30-per-person range; call ahead if arriving near closing time, since small-town restaurant hours can be seasonal. This is a good place to settle in without adding another stop—the area is dark and quiet after sunset, so keep wildlife awareness and a full tank in mind for the next morning.
From Devils Tower, leave around 7:30 AM and head east on WY-24 toward I-90, stopping first at Vore Buffalo Jump near Beulah. The site is in a large natural sinkhole beside the highway, where Plains tribes drove bison over the rim for communal hunts. Allow about an hour, and check seasonal opening hours before leaving—September access can be limited. Bring water and a light jacket; the site is exposed, and cell service is unreliable. Continue west toward Spearfish and turn onto the Spearfish Canyon Scenic Byway, one of the Black Hills’ most enjoyable drives, with roughly two hours for viewpoints and unhurried stops.
Make the planned 30-minute stop at Bridal Veil Falls, an easy roadside viewpoint along Spearfish Canyon; the falls are most impressive after wetter weather, but the limestone walls and pine forest make the stop worthwhile regardless. Continue into Spearfish for the D.C. Booth Historic National Fish Hatchery, where restored historic buildings, outdoor ponds, and fish-rearing exhibits make for a relaxed one-hour visit. Grounds are generally open during daylight, while buildings and exhibits often keep seasonal daytime hours; admission is typically free. Afterward, allow roughly 1½–2 hours to drive to Rapid City via US-14 and I-90 E, arriving around 4:00 PM. Park at your motel, rest, and avoid trying to add another major attraction—the canyon stops already make this a full sightseeing day.
For dinner, head downtown to Murphy’s Pub & Grill, a casual, family-friendly choice with burgers, sandwiches, salads, and pub classics, usually about $15–30 per person. It is an easy place to settle in after the drive, and downtown Rapid City is compact enough to walk around for a few minutes afterward. Budget about an hour for dinner, then pick up groceries or breakfast supplies nearby for tomorrow’s early departure toward Badlands National Park; check the restaurant’s current Sunday hours and kitchen closing time before setting out.
Leave Rapid City around 7:00 AM and take I-90 west to Wall, arriving shortly after 8:00 AM. Start at Wall Drug Store, where the old-fashioned storefronts, Western displays, jackalope photo spots, and travel memorabilia are worth about an hour. Grab coffee, a doughnut, or a quick breakfast here before heading into the park; most attractions open around 8:00 AM, but individual hours can vary in September. Top off your fuel in Wall and carry water, since services inside Badlands National Park are limited.
From Wall, enter the park and follow the Badlands National Park Loop Road east, allowing roughly two hours with frequent pull-offs. The landscape changes quickly from open prairie to sharply eroded ridges and striped pinnacles, so take your time at the overlooks rather than treating it as a straight drive. Make Pinnacles Overlook one of your main stops—its broad view across the layered formations is especially impressive in the morning light. The park entrance fee is generally around $30 per private vehicle unless you have an America the Beautiful pass; keep your receipt or pass accessible at the entrance.
Continue toward the Ben Reifel Visitor Center for the Notch Trail, an adventurous 1.5-mile loop that includes a steep log ladder and an exposed ledge. Allow about 90 minutes, wear sturdy shoes, and skip it if the trail is wet, windy, or if anyone in the group dislikes heights. Check conditions at the visitor center first; September can still be hot, and there is little shade, so carry water and start early enough to avoid hiking during the warmest part of the afternoon. Afterward, have an early dinner at Cedar Pass Lodge Restaurant, near the visitor center. Expect roughly $15–35 per person for a casual meal, with hours changing seasonally—confirm the September schedule before relying on it. The lodge is a peaceful place to slow down after the drive, and you can return to Wall afterward for your motel and a sunset stroll around town.
After the drive from Wall to Keystone, aim to arrive at Mount Rushmore National Memorial around 8:00–8:30 AM, before tour buses and larger family groups build up. The grounds are generally open from 5:00 AM, with the parking facility typically open from 5:00 AM to 9:00 PM; check the September schedule before leaving. Parking is about $10 per private vehicle and is not covered by the America the Beautiful pass. Allow roughly two hours for the Grand View Terrace, Presidential Trail, and Lincoln Borglum Visitor Center. The museum is the best place to understand how the monument was carved, while the short trail gives you closer angles and a little fresh-air break.
From Mount Rushmore, follow SD-244 west toward Iron Mountain Road, allowing about 90 minutes for the drive rather than treating it as a direct transfer. This is one of the Black Hills’ best slow drives: expect tight curves, three famous pigtail bridges, and narrow tunnels that frame the monument in the distance. Drive patiently, pull only into signed overlooks, and avoid stopping in the tunnels or on the roadway. The route eventually brings you toward Custer State Park; a South Dakota park entrance license is required, and September wildlife traffic can make the drive slower than the mileage suggests.
Continue into Custer State Park for the Wildlife Loop Road, allowing about two hours and keeping plenty of distance from bison, especially if animals are standing in or beside the road. Pronghorn and deer are common, and the park’s burros may approach vehicles, but do not feed or touch them. Download a map or keep a paper one handy because cell service is uneven. Late afternoon is a good time for the loop’s softer light, though September weather can turn cool quickly; carry water, a light jacket, and binoculars.
Finish at Sylvan Lake, about 30–40 minutes north through the park, for an easy one-hour shoreline walk among granite spires and still water. Parking can be tight near the lake, so arrive before sunset and use only marked spaces. Then return to Custer for dinner at Black Hills Burger and Bun Co. on Mount Rushmore Road; expect about $15–25 per person before drinks and allow for a possible wait, since it is popular and seating is casual. For three travelers, sharing fries or a specialty burger can keep the meal reasonable. After dinner, check into your motel and fill the car in Custer—fuel options become less convenient on tomorrow’s long Nebraska route.
Leave Custer around 7:00 AM with a full tank, following US-16, US-385, and US-18 south toward Nebraska. This is a long but scenic driving day—roughly 350 miles and 6½–7½ hours behind the wheel—so plan a quick fuel and coffee stop in Hot Springs or Edgemont rather than trying to push straight through. Once you reach Gering, head to Scotts Bluff National Monument; allow about 1½ hours for the summit viewpoints and short walks overlooking the North Platte River valley. The monument road and visitor facilities are generally open during daylight, but check current conditions before setting out. The drive-up viewpoint is the practical choice on a tight schedule; bring water, as shade is limited.
Continue east to Chimney Rock National Historic Site near Bayard, about 45 minutes from Scotts Bluff. The landmark is best appreciated from the visitor center and overlook, where exhibits explain its importance to emigrants on the Oregon, California, and Mormon Trails; allow about 45 minutes. Hours are typically daytime seasonal hours, with an admission fee usually around $4 per adult, so verify the 2026 schedule before leaving Custer. From there, continue toward North Platte and Buffalo Bill Ranch State Historical Park, arriving in the late afternoon if the day has stayed on schedule. Give yourself roughly an hour for the ranch buildings, grounds, and exhibits about William F. “Buffalo Bill” Cody; seasonal closing hours can be early, so check ahead and make this your firm time target.
Finish at The Canteen in downtown North Platte, a relaxed local stop for burgers, sandwiches, and other straightforward comfort food—expect roughly $12–25 per person. It is a good place to unwind after the long drive, and downtown parking is generally easy in the evening. Keep the meal uncomplicated and confirm closing time before heading over, since hours can vary by day. After dinner, check into your motel and refuel if needed; there are convenient gas stations along South Jeffers Street and near the I-80 exits for an easier start tomorrow.
Leave North Platte around 6:00 AM with coffee, water, and a full tank—the return to Santaquin is roughly 700 miles and will take about 10–11 hours of driving before breaks. Follow US-83 south to US-30, then join I-80 west across Nebraska and Wyoming. Keep the first stretch efficient; good quick fuel and breakfast stops are available around Ogallala, Sidney, and Cheyenne, but avoid turning this into a sightseeing day if you want to reach home before dark.
Stay on I-80 through Laramie, Rawlins, and Evanston, allowing about 15 minutes every two hours to stretch and switch drivers. A practical lunch stop is The Lincoln Highway Tavern in Laramie, though a faster option is to use the travel plazas around Rock Springs or Evanston. Expect fuel costs of approximately $90–130, depending on the vehicle; fill up before long Wyoming stretches and again near Evanston or Salt Lake City. Check tire pressure and weather before leaving, since high winds, construction, or early-season snow can slow the western Wyoming portion.
After Evanston, continue on I-80 west toward Salt Lake City, then take I-15 south toward Provo and US-6 east to Santaquin. This final section can be tiring after a full day behind the wheel, so stop for dinner near Lehi, American Fork, or Provo rather than pushing through hungry. If traffic is light and you depart on time, arrival in Santaquin should be in the early evening; unload only what you need, check the vehicle for belongings, and return a rental according to its agreed drop-off instructions.