Badlands to Hill City, SD to Cody, WY -routes?

[JimIrish7]

We are new to the 5th wheels and in planning our trip this summer, we want to make sure we have the correct and safest route out to Cody being our first time.
We have a 2020 Dodge 2500 and MC HC 32 ft(281CK)

1. I have heard the route 16 is a real challenge. We have booked a place up in Hill CIty, SD and I am wondering shall I cancel it?

2. Is this the best route out of Hill City over to Cody down 16?

Thanks
Jim