+1 to the Apple River Canyon. It’s beautiful and low key. A bit small but there are 4 one-mile hiking trails that are all gorgeous. Another good one in WI is Governor Dodge state park: great long hiking trails and two lakes with canoe rentals. Wildcat mountain has a wonderful lookout where you can see fireworks from the surrounding communities. I camped there last year and it also has a few nice trails and canoe/inner tube rentals at the nearby Kickapoo river.