Don't miss the National Scenic Byways that go through the Superior and Chippewa National Forests. The North Shore Scenic Drive runs up the Shore of Lake Superior and is rated as among the most scenic in the US. There are 8 state parks- most with beautiful waterfalls, the Superior National Forest, and a national monument along the 150 mile route, which runs from the port city of Duluth up to the Canadian Border. There are public campgrounds at the state parks, national forest and state forests. Also a few private campgrounds. The cities of Two Harbors has a great full service campground at Burlington Bay right on Lake Superior. The city of Grand Marais (much nearer the Canadian border) also has a full service city campground. There is another National Scenic Byway -the Gunflint Trail (a road and not a trail) that takes off to the northwest from Grand Marais and takes you into the heart of the national forest and to the edges of the Boundary Waters Canoe Area Wilderness. There are many lakes, resorts and outfitters along this byway and campgrounds too.
Enjoy!