Looking for badlands/wind cave/custer itinerary help & advice!

Road tripping from Chicago to CA and have 1 day each in Badlands NP and Wind Cave NP/Custer SP. Wondering what the best itinerary is?

We love hikes & are excited to explore the unique geography of these areas. Would love to see wildlife too as I know these areas are known for that!!

Here’s what I’m thinking so far:

BADLANDS DAY:

• Stay in Wall the night before
• Notch trail
• Maybe windows and doors trail?

CUSTER & WIND CAVE DAY:

• Stay in Rapid City the night before
• jewel cave
• cathedral spires 
• sylvan lake 

Since we’re road tripping, I don’t really want to add more driving time by doing the driving tours. Also, we’re going to do Black Hills to see Mt. Rushmore/Crazy Horse the day after as we drive out of South Dakota, so no need to add that to suggestions!!

Any advice would be greatly appreciated, TYIA!!!