From the Tetons, I've used both 191 to Rock Sprgs and 26/287 to Rawlins; not a lot of difference between those routes, but I felt 26/287 was a better roadway overall. My choice was usually decided by which way I was headed after hitting I80, if westbound, I'd use 191 to Rock Sprgs, if eastbound I'd use 26/287.
Whether you can/should drive that whole 510 miles, 8.5 hours in one day is a personal preference choice. It could be done, but would be a very long day. I wouldn't do it, but then I'm retired and have all the time I need to get anywhere. I would overnight around Cheyenne, Wy , which would allow me to time my travel through the Denver area to avoid rush hours.
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