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Wall, SD
The town at the north edge of the Badlands, and home of Wall Drug.
Wall sits on I-90 at the top of the Badlands, and the Pinnacles entrance to the park's Badlands Loop Road is a few miles south of town. Most people know it for Wall Drug, which has handed out free ice water since 1936, but the town is also close to the Minuteman Missile silo and the Buffalo Gap National Grassland. It's a good place to stay if you want to catch the Badlands at sunrise.
About 50 minutes from Rapid City by car.