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Interesting restaurant on west side of Madison, Wi?

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We will be driving up from the Chicago area, and sleeping on the west side of Madison. Actually anywhere convenient, easy access , is fine. Type of food? No need for gourmet, just a pleasant place to stop before retiring on this road trip. Thanks.

P.S. We have been to Madison a couple times, so .. keep that in mind. We do not NEED to go into town and see it. Prefer to stay on outskirts, if posible.

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