www.travelsd.com/Road-Trips Scenic routes through South Dakota. Official South Dakota tourism site.
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How I did it: I used to do this a lot. Just get in the car, pack some cloths and my camera and go. I used to follow rail lines and take photos of the old abandoned stations. It was great fun.
Lessons & tips: Fill your fuel tank.
Keep a vauge idea on where you have gone so you can get back.
leep in your car if needed.