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Hint 1
Try to construct a graph out of highways. What type of graph is this?
Hint 2
We essentially need to find the minimum distance to get from node 0 to node n - 1 in an undirected weighted graph. What algorithm should we use to do this?
Hint 3
Use Dijkstra's algorithm to find the minimum weight path. Keep track of the minimum distance to each vertex with d discounts left