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Haven’t done much camping down in that part of the state. You usually can’t go wrong with the state parks although it seems they haven’t been maintaining them like they used to which is sad. Sites are typically spaced out decently so you aren’t on top of your neighbors. Most parks have great ranger led programs for families. There are a lot of good opportunities within 3-4 hrs of driving. Our favorite is Peninsula State Park in door county. There is so much to do in the area.  Kids always had a good time. Make sure to stop at PC Junction and ride the pedal cars if you go. Your family can paint a sign to hang on the wall. It’s fun to go back years later to find your sign.