I would not follow the NRCS guides in Northern IA, They have the seeding rates to low. I have seeded down 170 a from crop to pasture and will not follow their guidelines any more. The fescue that they want you to put in will not winter in n IA. I would get your soil types and figure from there. The heavy hoof traffic areas need a dense sod forming grass, brome, blue ect. I really like orchard in the mix. Also, I have had great luck with birdsfoot trefoil, I takes a couple years to get It established, Haying it the first year is your best bet, as the young seedlings cannot take the hoof traffic.
I would stongly suggest to use the NRCS to help set up a rotational system, with watering facilities. They have EQUIP money available for cross fencing, seeding, watering, and pay a fee for controlled grazing for up to five years. They have incentives for seeding down cropland as well.
Test the ph of your soil, as it is alot easier to apply lime before you seeding.