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Milwaukee - Amtrak station to Summerfest Grounds Best way to Go

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Teens are going to WARP Tour Concert and I am checking to see how they can get to and from Amtrak Station to the Summerfest grounds. They will take train from Sturtevant to Milwaukee and then need to get to the Concert and do the reverse to return. What public transportation is there available to do that and what are the details: Where to pick up a bus, what is the bus schedule, what is the cost? Where to they catch the bus to come back to the Amtrak station? How long of a bus ride is it?

Thanks!

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