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Similar to Door County -- without the crowds?

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Our family will be attending a wedding in Milwaukee in late July. We'd like to spend a week beforehand in a cabin and hiking, swimming, eating ice cream, etc. We've been to Door County on several occasions and I'd like to find someplace a little less touristy. It doesn't have to be on Lake Michigan, any lake is fine, but not more than 4 or 5 hours from Milwaukee.

What I love about Door County is the state parks, the beaches, the lack of condos and huge hotels, the ice cream shops, the kind of small town rhythm, etc. But I'd really like to not have to deal with all the crowds. Any suggestions? Thanks.

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