Leave Denver early—around 7 a.m. is a good target—and head east on I-76 toward Fort Morgan, then continue to I-80 east for Kearney. (The route is eastbound on I-76, not west.) Plan on roughly 4½–5 hours of wheel time to Kearney, plus stops; allow most of the day for the RV, lunch, and sightseeing. In Fort Morgan, take about an hour to stretch your legs and grab lunch at a local café; budget around $15–25 per person. Check RV parking before choosing a spot, and avoid getting pulled into tight downtown streets if your rig is large.
Continue east on I-76 and I-80 to the Great Platte River Road Archway, right over I-80 at Kearney. It’s a memorable break from the highway, with exhibits on westward travel and the Platte River region; allow about 1½ hours and check the museum’s current seasonal hours and admission before you go. Afterward, head to Kearney RV Park & Campground to check in, level the rig, and settle for the night. Confirm your site and arrival instructions in advance, especially if you expect to arrive near closing.
For dinner, Thunderhead Brewing is a relaxed Kearney option for pub food and local beer; expect roughly $15–30 per person. It’s a separate stop from the campground, so check the route and parking situation before driving over—if you’d rather not move the RV after setting up, arrange a ride or choose takeout. Turn in early: tomorrow’s drive to Maple Grove is another long leg, so fuel up and get the RV ready tonight.
After checking in and getting the RV settled, head to Lakeside Commons Park for an easy 45-minute leg-stretch beside the water. It’s a low-key first stop after a long travel day; keep an eye on the October light, which fades early, and bring a jacket for the lakeside breeze.
Have an early dinner at The Lookout Bar & Grill, a relaxed choice with a broad menu and a lively neighborhood feel. Budget about $20–35 per person; allow roughly 1½ hours, and check current hours before setting out. Afterward, make a gentle loop through Maple Grove Arboretum if you still have daylight and energy. October displays and access can vary, and the grounds are best enjoyed before dusk, so shift dinner earlier if you can.
Take the RV—or a car if you have one—about 15 minutes northwest to Elm Creek Park Reserve for an easy two-hour walk through wooded trails and fall color. The park is large, so choose a signed loop that suits your group rather than trying to cover too much; trail conditions and color can vary, so bring layers and sturdy shoes. Allow roughly $7 for a daily vehicle permit, and check the Three Rivers Park District website for current fees and park hours before heading out.
Next, stop at the Maple Grove Farmers Market for about an hour and set aside $5–15 per person for a snack or local treat. Its season and market days vary, and October 5 is a Monday, so check the market’s official calendar before making the drive; if it isn’t operating, keep this as a flexible browse-and-snack stop rather than counting on vendors being there. In the afternoon, head to Central Park of Maple Grove for a gentler wander around the pond, gardens, and paths. It’s a nice place to slow down after the reserve, and the indoor ice-skating area can be a handy warm-up if the weather turns chilly.
Finish with dinner at Pizzeria Pezzo, a casual downtown choice for pizza and Italian-American favorites. Budget about $20–35 per person, and check current hours or reserve ahead if you’re arriving at peak dinner time. From Central Park of Maple Grove, it’s a short drive; allow extra time to park around the downtown area and stroll over.
Head into downtown Minneapolis around 9 a.m.; from Maple Grove, allow 25–40 minutes by car, more in rush-hour traffic. If you’re traveling in the RV, leave it at your campground and use a car or weekday express bus—downtown garages often have height limits, and an RV is awkward around the riverfront. Start at Mill City Museum (704 S 2nd St), which is usually open Tuesdays from 10 a.m. to 5 p.m.; check its current hours and admission before setting out. Give the exhibits about two hours, including the dramatic flour-tower show and views over the river.
Walk just outside to Mill Ruins Park for an hour among the old mill foundations and St. Anthony Falls overlooks. The paths are generally free to access, but riverfront paving can be slick after rain, so wear shoes with decent grip. Then head to the North Loop for lunch: a heads-up that The Bachelor Farmer permanently closed, so you won’t be able to dine there. If you’d like to keep the lunch stop in the planned neighborhood, Red Cow North Loop is a nearby alternative; budget about $25–45 per person and check current hours or book ahead.
From the North Loop, allow roughly 10–15 minutes by car or rideshare to Minneapolis Institute of Art in Whittier. Spend a relaxed couple of hours with the collection; general admission is typically free, while special exhibitions may charge, and Tuesday hours can change—confirm before you go. It’s a good warm, unhurried finish to a crisp October day; afterward, head back to Maple Grove before evening traffic builds.
Start at Eagle Lake Regional Park for an easy lakeside loop on Maple Grove’s west side—give yourself about 1½ hours to stroll and enjoy the autumn color. Then drive roughly 10–15 minutes to Fish Lake Regional Park for another 1½ hours among wooded paths and shoreline views; the two parks make a relaxed morning without much time in the car. Bring a warm layer, since the lakes can feel breezy, and check Three Rivers Parks’ current trail conditions and vehicle-permit rules before you go; budget around $7 for a day permit if required.
Head to 3 Squares Restaurant for a comfortable lunch; allow about an hour and roughly $15–30 per person. It’s a popular local spot, so a little flexibility around noon can help if there’s a wait. Check the restaurant’s current hours and menu before setting out.
Spend about 1½ hours browsing The Shoppes at Arbor Lakes, an open-air district with shops and places to pause for a coffee. It’s an easy drive from lunch, and there’s plenty of parking, though the open-air layout means you’ll want that jacket if the weather turns crisp. This is also a handy spot to pick up snacks and road supplies before tomorrow’s drive to Red Wing.
Leave Maple Grove midmorning and allow about 1½–2 hours to reach Red Wing. Once in town, get the RV parked at your campground or another suitable oversized-vehicle spot before heading downtown; street parking can be tight, and it’s easier to explore the compact center on foot. Grab a quick lunch nearby, then start the afternoon at the Red Wing Shoe Store & Museum. The giant boot out front is hard to miss, and the small museum offers a good introduction to the town’s shoemaking history. Allow about an hour, and confirm museum access and store hours before you go.
From there, continue downtown to the Pottery Museum of Red Wing for about 1–1½ hours with the stoneware and pottery that made the area famous. It’s an easy walk between the two museums, though a short drive is an option if you’d rather save your steps. Seasonal hours can vary, so check that the museum is open on Thursday before setting out; if you arrive early, browse downtown while you wait.
Finish at The St. James Hotel, right by the river, for dinner in a handsome historic setting. Budget around $25–45 per person and consider reserving, particularly if you want a relaxed table rather than a quick meal. After dinner, take a short stroll along the nearby riverfront if the weather cooperates; October evenings can feel chilly, so bring a warm layer.
Start early at Barn Bluff for the roughly two-hour hike and its big views over the Mississippi River and Red Wing. The climb is steep in places, with uneven rock and exposed sections, so wear shoes with good grip and take water; choose a signed route that fits your group and turn back if the trail is wet or slick. Parking and access are generally free, but check local trail conditions before setting out. Afterward, head down to the riverfront for the Red Wing Marine Museum. Set aside about an hour, and verify its October opening schedule before you go—small museums can have seasonal or limited hours.
Walk or drive into downtown for Hanisch Bakery and Coffee Shop, a relaxed spot for sandwiches, pastries, and coffee. Budget about $10–20 per person and allow an hour; Friday can be busy around lunch, so be flexible if there’s a short wait.
Finish at Memorial Park, where wooded paths and overlooks make an easygoing contrast to the morning climb. Give yourself about 1½ hours to wander without trying to cover every trail. If you’re driving up, check whether the park road and overlook access are open for the season; otherwise, enjoy the paths on foot. Bring a light layer—the bluff-top breeze can feel chilly even on a mild fall afternoon.
Head south from Red Wing to Frontenac State Park (about 15–20 minutes by car) and give yourself around 2½ hours for the blufftop trails and Mississippi overlooks. Choose a signed route that matches your group’s energy; the paths can be steep or uneven, so wear grippy shoes and bring water. Minnesota state parks require a vehicle permit (about $7 for a day pass); check current trail conditions before setting out, and park the RV only in a suitable designated space.
Cross the river into Wisconsin and continue south to Maiden Rock Winery & Cidery in Stockholm—roughly 30–40 minutes from the park, depending on your route and stops. Allow about 1½ hours for a tasting and vineyard views; budget around $15–30 per person, and check the winery’s October hours and tasting availability before driving over. Then make the short trip into Stockholm for Stockholm Pie & General Store. Plan on about 45 minutes and $8–18 per person for pie or a light bite; this small-town stop may keep seasonal or limited hours, so it’s worth confirming before you leave Red Wing.
Return across the river to Colvill Park in Red Wing for an easy hour by the water. It’s a relaxing way to wind down after the drive and, if skies cooperate, catch the early October sunset—roughly around 6:30 p.m. Check the day’s sunset time and bring a warm layer for the river breeze.
Spend 1½ hours at Anderson Center at Tower View, a historic estate with distinctive architecture and peaceful grounds. Access to the house and grounds can depend on tours, events, or the season, so check current hours and visitor arrangements before you go; don’t assume the buildings are open for drop-in visits. Allow extra time to enjoy the setting without rushing.
Head to Sargent’s Nursery for an easy browse among seasonal plants and garden displays. Plan on about an hour, and check the nursery’s current Sunday hours before setting out. It’s a relaxed stop rather than a must-buy errand—especially nice for seeing what’s in season around Red Wing.
Go downtown to Red Wing Brewery for a casual lunch and a locally made beer; budget roughly $15–30 per person and allow about 1½ hours. Afterward, make your way to the Cannon Valley Trail for a final walk or bike ride. Choose an out-and-back stretch that suits your energy and daylight—October afternoons get short, and trail conditions can vary. Check access and any fees or bike rentals in advance, and leave enough time to return to the RV before dusk.
The drive in from Red Wing is being handled separately, so keep the rest of the day flexible. With a long haul behind you, plan on getting settled first and check the time, weather, and your energy before committing to the disc golf round. Angostura Recreation Area is south of Hot Springs; confirm day-use access and course conditions before heading out, and allow roughly 1½–2 hours to play.
Head back to town for a restorative soak at Evans Plunge Mineral Springs. Allow about 1½ hours, and check current admission details and hours before you go, as schedules can change seasonally. If daylight and energy permit, Cascade Falls and Swimming Hole makes a pleasant short stop; it’s a natural area, so wear shoes with good grip and take care around wet rocks.
For dinner, choose a casual spot in downtown Hot Springs and budget about $15–30 per person. Keep the evening unhurried: if the drive runs late, skip the falls or shorten the round rather than rushing the soak and dinner.
Leave a generous window for the separately planned drive from Hot Springs to Rapid City; the soak at Moccasin Springs Natural Mineral Spa works best before setting out, if your arrival and departure timing allows. Give yourselves about 90 minutes in the mineral pools, and check current admission, reservations, and operating details before you go. If that timing doesn’t work, keep the soak for another visit rather than rushing the drive.
Once you’re settled in Rapid City, head to Sioux Park Disc Golf Course for a round. Allow 1½–2 hours, depending on your pace and how busy the course is. October afternoons can turn chilly, so bring a warm layer and check daylight and course conditions before you start.
For a meal, choose a casual downtown Rapid City café; plan on roughly $15–30 per person, with the exact cost depending on your order. Then wander through Art Alley, a compact, easygoing stop for colorful murals and a little time on foot. Keep the evening flexible—if the drive has taken longer than expected, skip the extra stroll and settle in early.
Leave Rapid City around 6 a.m. with the RV fueled and breakfast packed; this is a much longer day than the direct drive to Denver once you include the planned stops. Follow I-90 east toward Wall Drug Store in Wall, aiming for a late-morning break. Give yourself about an hour to browse the famously sprawling shops, stretch your legs, and grab lunch—budget roughly $10–25 per person. October hours can vary, so check before you go.
Continue east on I-90 to Minuteman Missile National Historic Site. Allow about an hour for the visitor site or an accessible overlook, but verify current opening hours and access before setting out; facilities and site access can vary. Keep the stop focused, as the remaining drive is still substantial.
If daylight, road conditions, and your pace leave enough time, make the detour to Scottsbluff National Monument for a brief look at its striking bluffs and prairie setting. Allow 1–1½ hours, and check whether the monument road and visitor facilities are open; skip the detour if it would push your Denver arrival too late. Then continue south toward Denver, planning for a late arrival and stopping for fuel or food as needed. With all three stops, expect a very long day—potentially well beyond the direct-drive estimate—so be ready to shorten the sightseeing if fatigue or weather becomes a concern.
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