Amarillo to Sikeston
Like you, I like to avoid interstates as much as possible. Last summer we ran US 60 from Amarillo to Sikeston MO in a Class C towing a Wrangler. I do not recall anything that would keep you from going this route. From Springfield to Sikeston, it is all 4 lanes. I recently read that the US 60-62 bridge at Cairo is closed for structural problems. I would not recommend it even if it is open. It is very narrow, check it out on Google street view. I use I 57 to IL 37 to 169 to connect with US 45.
In Pawhuska OK stop at the Pioneer Woman Mercantile. In Sikeston MO, Lambert's is a great place to eat. We stayed at Hintons RV park there. Lambert's has a shuttle that will come to the campground. The shuttle driver took us to the side door and seated us so we did not have to wait in line.
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2016 Minnie Winnie 25 B
2017 Jeep JKU Wrangler
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