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Edgemont, SD
The quiet southern end of the Mickelson Trail.
Edgemont sits on the southwest edge of the Black Hills, where the pine country gives way to open prairie, and it grew up as a railroad town. It's the southern end of the George S. Mickelson Trail, which runs 109 miles north from here to Deadwood on an old rail bed. Come here if you want the trail and the big skies mostly to yourself.
About an hour and a half from Rapid City by car.