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I'm planning on doing it next September but have already done some research. If you search on Boundary Peak Trailhead in Google Maps, that's the one in this video. However, Google Maps doesn't give directions all the way and misses the final turn you need to take to it. Instead, it takes you further up the road and stops...then just dots over to the trailhead. Try it. If you put Google Maps into satellite view, you can see the dirt road from Boundary Peak Trail Head along Trail Creek back to the route that Google Map uses. In short, the Google Maps is only good up until about the last 1.5 miles so you need to bear left when the road starts pulling away from the creek. The All Trails route they followed takes you right up that scree slope. Instead of hiking into the bowl, a better route (according to many) is to veer right and go up Trail Canyon Saddle until it intersects with the Queen Mine Trail. At the saddle you veer left up the ridge and subpeak. It still sucks, but apparently sucks a lot less than the scree slope. In the video you see a guy coming down a little subpeak at 7:43. He would have crossed the Trail Canyon Saddle to come from that direction whether he started at Queen's Mine or at Boundary Peak Trailhead. I plan to hike via Trail Canyon Saddle but come down the scree slope per All Trails. The first part of the Queen's Mine trail heads to the Trail Canyon Saddle along a ridge and has better views than the Boundary Peak Trail which starts lower, but it's a longer route, and requires a 4 wheel drive vehicle to get to the actual Kenney Point trailhead. If you start at the Queen's Mine, then you are adding a couple more miles to an already tough day.

Nope, they are easy to get to

Thanks! Yes, we did.

Awesome! South Dakota is a lot of fun!