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Depends what you're looking for, but my go-to when I'm feeling the itch is Hercules Glades Wilderness. It's about a 4 hour drive from KC. Super beautiful, lot of terrain diversity -- plateaus, glades, wildflowers, stands of red cedar, oak forest, streams, at least one waterfall. Easy access from the lookout tower trailhead. Also did you guys know we have tarantulas in Missouri? Saw a couple last time I was there, damn they're huge, really cool. Probably a good place for hunting too, you hear turkeys gobbling up a storm in the spring.
Another place I like is Paddy Creek Wilderness, a little south of Fort Leonardwood. Pretty trail, good views. You'll hear weapons going off at night though, lots of booms from the Fort.
For a place in Mark Twain that's a little closer you might check out the Cedar Creek Trail outside of Columbia. Haven't been yet but it's a shorter drive and looks like a nice hike.
