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If I80, that's fine, just have your timing right and dont hit the bottom of the lake during a rush hour. Our rush hours on week days are 6AM to 1PM and then 2PM to 7PM. (j/k just avoid the typical morning and evening rush hours). If you come across on I80 you can do 39/51 north or take I80 into Iowa.
I didn't see how many extra miles it would be if you stayed way south on I74, but that's an option too.
Stay on I-80. All the way to Omaha take I-29 north to I-90 west to Rapid city..
BUT If you are coming from Philly, why not....I-76 to I-70 to which bypasses Pittsburgh then west to Columbus, Ohio ( i am sure its not a big rush hour city ) stay on I-70 to Indianapolis change over to I-74 over to Champaign Illinois...stay on I-74 all the way to Moline/Davenport pick up I-80 all the way to Omaha then take I-29 to Sioux Falls to I-90 west to Rapid City.....much straighter road and bypasses Chicago.
Alert! I-90 from Albert Lea Mn. west to Sturgis has massive construction. Several 20 to 30 mile stretches of one side tore out with traffic diverted to one lane and reduced speed each way. Then for about a mile at almost every overpass/bridge one lane with reduced speed for maintenance. That work may be done in time but not the total tear out areas.
I just came from Sturgis last week and the usual 12 hour ride took 15 hours.
I believe that I-80 is the best way through but timing is important. Then any of the suggested routes up to I-90 are doable. I-380 north ends and is somewhat complicated to get to I-25 to I90. I-25 is the next choice and is usually busy. Then comes 1-29 north. Light traffic always. I do the I-380 the most but like 1-29 the best.
Actually from Chicago once i get to Sioux City i then take Route 20 through Nebraska and come in into the Black Hill from the south....pretty nice ride.
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