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Your route planner found the ferry that goes across Lake Michigan. Maybe there's a way to turn off "ferries" besides turning off "toll roads" to find land routes. It will probably pick the route mentioned by HamRad.
If traveling across the U.S. and using Interstates and you are satisfied with going through the mountains to get to Rapid City, the routes East from there will be a lot flatter than what you just went through and easy enough for an RVer.
HamRad has some good points for enroute stops since you WILL be stopping on the way to RC and Maine. Overnighting at places like truck stops and Walmarts are permitted after checking in with their management. Truck Stops might even allow showers, but my wife would only use one if it was clean and I was guarding the door.
Of course, there are plenty of CGs on the way at higher costs or you can sign up for Passport America or other CG discounter to lower the overnight cost usually to half price! The membership fee can easily be recouped on a trip like this. But consider that the discounters have many limitations including site availability. The discounters help CGs sell sites that otherwise they could not fill (low traffic, low season, etc.) so not every CG may have something. A call ahead of these places should help.
Hopefully, others can come along and suggest other RV-friendly chains that allow overnighting and other route recommendations.
If traveling through Canada I believe passports are now required so don't forget them.
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