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Drivable Weekend Trips from Chicago - Milwaukee?

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My SO and I are looking for a good weekend getaway location, for an anniversary trip in a few weeks. We're in Chicago at the moment, so we were thinking something up to a few hours away. It doesn't have to be super busy or exciting, just a pleasant place to visit for a few days.

We are open to pretty much anywhere, but we were looking at Milwaukee initially, can anyone give us an idea of what to do see if we end up there?

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