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Wisconsin & Miss. River drive in RV, needing "must see" suggestions

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My husband, 89 year old mother & I are planning a trip to visit Wisconsin the latter part of July & first half of August. We'll be in an RV but towing a car. Mom wants to see the shoreline from above Chicago going North & drive along side the Mississippi River going South. For the most part, she prefers to just "ride" and enjoy the scenery but we'd prefer to find several spots along the way that we can stay for a couple a days and see the sights in each area. Our RV is fairly large and I'll have do some research into RV Campgrounds. I've heard Door County was a must see. We love small quaint towns, scenic drives, flea markets, good craft shows, covered bridges, lighthouses and staying off the beaten path. Any suggestions will be appreciated. Specific highway numbers, town names and as much detail as possible would be terrific. Thanks in advance for you help

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