Hi, I am new to RVing, but was a Park Service volunteer there over the past 20 years. If you don't have a boat, the only and best way to see the islands is the Apostle Islands Cruise service. I highly recommend them, especially the Grand Cruise. Bayfield is a lovely town with a nice historic boat park and museum. One of the best Museums is on Madeline Island. I have camped only on the islands and at the Casino campground which is mostly RV sites. I recommend them. SPend a few days in the area and enjoy. There is ONE hiking trail in the park where you can walk to see the Sea Caves from above that leaves from Meyers Beach.
If you go in the fall, it's the perfect time to visit apple orchards and wineries too.