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Cool place for 1 night in Door Co for family with young kids?

Hi - My husband and I are driving with our two small kids (3 and 4) from Va to WI this summer. We'll be in Milwaukee for 4 days for business, but want to see more of the state and were told Door Co is gorgeous. We love the arts and nature and good food (farmer's markets included). Any ideas on places to stay? We love B&B's and small hotels but not extremeley touristy areas. Any advice gratefully received.

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