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Chicago to Madison Route

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We are attending a wedding in Madison, WI and will be flying in/out of Chicago, spending some time there after the festivities. Two routes to Madison are suggested - north towards Milwaukee, or west through Rockford. They both seem to be about the same mileage/time spans. Any suggestions for which would be most interesting, or should we go one way and return the other? We have almost a full day to travel in each direction, and already have hotel res in both cities, so stopovers are not on the agenda.
Thanks for advice.

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