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From Gillette, WY, it is easy to take day trips over into ND and Teddy Roosevelt National Park. If you take the RV, stay in Medora, ND and take in the Teddy Roosevelt musical. Another day trip can be to Mt Rushmore and then to the Chief Crazy Horse Monument. There is a tour of the extensive coal mining in Gillette.
Glacier National Park was outstanding in our opinion. We first stayed on the east side at Johnson's Campground in St Mary, MT. We had a great view of the Lake from up on a hillside. KOA has a campground there also, but, in our opinion, the view isn't as good. It is about a mile to the entrance of Glacier where you can take a free bus that will drop you at the different points of interest. It is much better than trying to traverse that road yourself.
Later, we went over to the west side and stayed at a campground in Hungry Horse, MT. The west side is a more populated area.
Then there is Cody, WY, with it's Cody Museum, a worthy stop if you enjoy Museums. It is on the way to Yellowstone from the east. Yellowstone is Yellowstone which is saying a lot. I think we enjoyed the Serengeti in north-east Yellowstone above all the rest. Because there were more animals. We saw black bear, grizzly bear, moose, elk and large herds of bison while in the park. Individual bison were as close as 5' from our truck.
As far as quaint towns, we liked Buffalo, WY. We stayed at Indian Campground. It is near a number of in-walking-distance eating places and a neat hiking trail which will take you to down town historical sites.
There is much more, but that should get you started.
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