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Milwaukee restaurant with best view of Lake Michigan

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My husband and I will fly into Milwaukee on our way to Madison the last Thursday in October. We'd love to drive through Milwaukee to get a bite to eat and see Lake Michigan/Milwaukee Bay. How is the traffic on I-794 going North at 3:30 pm - 4:00 pm? What restaurants/bars would you recommend for the best view of the lake? Open to all cuisines and price ranges. Thank you!

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