Hi,
I will be probably be at Mayo Clinic and Downtown Rochester area most of the time.
Considering whethering to go SFO for a day.
OK, so, just a headsup, Rochester in Minnesota (which is not the same as the Rochester in New York state) is a long way from
anywhere. It's an hour-and-a-half drive from Minneapolis, or about the same distance as driving from Changi to Tuas, all the way back to Changi, and then back to the CBD!
Everywhere else is even further. Milwaukee is four hours' drive, Chicago is five hours - you could do either of those in a long weekend, but not as a day trip unless you really
really like driving. And SFO is definitely not a day trip - it'd be a long weekend at the least, you'd have to drive to Minneapolis and fly from there.
That said, if you're willing to drive to Minneapolis to get on a flight, you should be able to get just about anywhere in the country: MSP is a huge hub for Delta Airlines, and they fly nonstop from there to SF, LA, NYC, DC, Miami, Seattle, basically anywhere you might want to go.
Does driving in the US require IDP?
It doesn't. IDPs are just a
translation of a driver's license - they don't actually do anything themselves. I drove pretty much everywhere from California to Colorado on an Australian drivers licence back in the day, even got pulled over by the cops a couple of times, and nobody ever gave me any hassle.
The USA federal government says "check with the DMV of your state to see if they require an IDP"; I checked Minnesota and California, and they both say "no, you don't need an IDP, just use your home country's license". I even checked Arizona and Texas, both of which can be a little ~weird~ about foreign visitors, and they both say "no you don't need an IDP" as well.
Personally, I think IDPs are useless.