We have been across Idaho a couple times during our travels, and many times before we went fulltime.  The first time across in the RV, we jumped so quickly, we were in the state less than an hour.  We cheated and put the sticker on anyway.  The second time, we did stop a couple times.    The first stop was an overnighter, Harmony wanted to check out a new Temple about to open near Nampa.  It was a quick overnight stop along the way.  The next stop was at Bruneau Dunes State Park near Mountain Home.  We stayed a few nights in the state park, played on the dunes and even paddleboarded!
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Videos from our time in Idaho