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Your first leg will be about 1,131 miles from Ann Arbor to the KOA in Rapid City. That's about 16 hours when NOT towing so you'll be in for some tiring times after that many hours AND towing and then trying to set up at the end of it with a couple of little ones at the end.
Just for the sake of safety and reserving some energy you might want to pull over night some time during that journey. But in this forum you'll get a lot of "do what you're comfortable with", "you sound young and strong enough to know any better", but you did ask for some suggestions.
- Other than the first day, avoid marathon driving when towing. You'll experience more fatique than you will ever feel and you'll need to stay alert and energized for setting up and tearing down.
- Your wife will have to keep the little ones very busy so be prepared to do everything yourself. Then keep the hand sanitizer close by and the hands clean so you can help her with your brood.
- Tow with some water (10 gallons) and use the water pump and your RV restroom for rest stops. We've always used the rule "EVERYBODY sits down for EVERYTHING" in the RV restroom. It helps keep it cleaner, longer and Mama LOVES a clean restroom.
- Stay with KOAs - then look for a pull through site to make setup easier.
- At last check there's a KOA in Cody, east of Yellowstone but you'll want to stay closer if you want to visit Yellowstone. You might use this one as a stopover to getting to the West KOA right near the Yellowstone western entrance.
- Whatever you can do to make this enjoyable for the family will make for better trips, later - marathon driving with tight schedules requires a bit of patience and planning.
Good luck developing your RV travel regimen and routine.
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