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Pre-Planning
We made the decision to take this trip in mid 2013, and the first thing we did was make campground reservations in Yellowstone. We had no firm plans for the rest of our itinerary, but we had been told to make Yellowstone reservations early. After some research, we chose Fishing Bridge for part of the stay, and a private campground in West Yellowstone Montana for the additional days. With those reservations made and dates set, we could start planning the rest of the trip.

Looped
We wanted to see as much as possible, so I started with a "loop" plan. Go out one way and come back another. A route was sketched, but it changed several times before it was completed. We wanted a schedule, but we also wanted some flexibility in case we discovered something new or changed our minds.

Specific Criteria
We had a set of specific criteria for destinations. Anything related to Native American history is good. We also wanted to see museums and monuments about western exploration (Louis and Clark) and expansion (wagon trains). Of course any and all natural and scenic destinations were topping the list. We enjoy archaeology, paleontology, and geology (rock hounding) too, so we kept them in mind while planning. I  used several online tools to find attractions, campgrounds, state parks, and national parks, monuments, and historical sites. I have found Google Maps, Google Earth, and  Good Sam's Trip Planner most useful. I also posted rough drafts of our itinerary on a blog or two and asked for suggestions.

No Toad
Considering the fact that our itenerary was largely moving from day to day, we opted not to pull a secondary vehicle. I decided the added fuel, wear and tear, and general anxiety of having to pull a toad (Big Horn Mountain, the road out of Jackson, etc.). We did rent a Suburban one day at Yellowstone and a Ford Explorer for Needles Highway/Custer State Park. We really never missed having a car. There are a few parking areas in Yellowstone that don't allow RVs, but not many. The park's is designed to accommodate RVs and Buses.

A Mystery and a Bribe
It's a long drive out west, and there are many things to see along the way. However, the kids would be bored without some supplement. We allowed technology at times, but never when we were in a scenic area. To encourage reading, we offered each kid $5 per book if they read the Carole Marsh Mysteries we brought along. Each of these books featured a mystery based on various land marks, parks, and monuments we were visiting. It was pretty cool. We would arrive someplace, and the kids would know all about it, excitedly describing the history and interesting and important facts (like the fact they sell sarsaparilla at the Trading Post at Devils Tower. It was really good by the way).
 

Here's our final itinerary with notations about changes made along the way.

Yellowstone was our ultimate destination!

We decided to go one way and come back another.

Google Maps and Good Sam Travel Planner are awesome resources for planning a vacation!