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Milwaukee -- do I need a car?

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Well, I think the topic is pretty self explanatory. I'm going to be in town for two nights for a mini vacation and trying to decide if I should drive or take the train. If I take the train, that obviously means I'll be walking or using public transportation to get to the museums, zoo and maybe Miller Park. I'm staying downtown at the Intercontinental. So what do you think? Thanks.

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