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One day in Milwaukee: Talk to me, people

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My hubs and I are flying in to Milwaukee on a Friday night in mid-October on our way to a friend's 50th birthday party in Waukegan, Ill. We can't get to the party until 6 p.m. on Saturday, so we'll have some time in Milwaukee before we head south.

If you had one day there, what would you recommend? Throw out any and all ideas -- we're adventurous!

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