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Kadoka, SD
The eastern gateway to the Badlands on I-90.
Kadoka sits on I-90 about 20 miles east of the Badlands, and it's the last town you reach before the park if you're driving in from the east. The Minuteman Missile National Historic Site is a short drive west, where you can see a Cold War launch control center and a missile silo. It's a good stop to rest and fill the tank before the Badlands Loop Road.
About an hour and a half from Rapid City by car.