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Newcastle, WY
The gateway to the Black Hills from the Wyoming side.
Newcastle sits at the southwest corner of the Black Hills, where US 16 crosses into Wyoming from Custer, and it grew up as a railroad and oil town in the 1880s and 1890s. The Anna Miller Museum in town tells the area's ranching and frontier story. It's a good stop if you're coming in from the west, or heading on into Wyoming after the Hills.
About an hour and a half from Rapid City by car.