Don't exclude crossing the border. It can be affordable and uncomplicated. Many people live in Canada and drive into Detroit every day for work without a problem. I took 12 of my daughter's girl scout friends into Canada this past September, they were only 8, their parents weren't present, and they didn't need passports, (only birth certificates for minors). You do not need a passport to cross into Canada by car with your own minor children. You can get an enhanced license (which is cheaper than a passport) and your children only need their birth certificates to travel by car with their parents, until age 16. Those of us living on the border aren't intimidated, we do it all the time.
If you're brave enough to cross into Canada, try a Lake Superior Circle Tour and be sure to take the kids to Niagara Falls. I'm pretty sure Niagara is in the parenting traveling guidebook as a required sightseeing stop.
Lake Superior Circle tours are my dream.
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Lake Superior Circle Tours for amazing trip ideas. It was 29 degrees a few years ago on our July 4th trip at Tahquamenon. Be sure to pack coats and gloves and bug spray!!
You've received lots of advice already, so here's my two cents without duplicating their advice.
Lake Michigan has the most crowds. On a weekend in the summer, it's almost impossible to get a campsite at a state park on the Lake. The farther north you go, the fewer people you'll see. Book every single campsite for state parks for your entire stay in Michigan in the lower peninsula, even for week days. You'll have more freedom in the UP but don't expect open campgrounds on Lake Michigan at any point in the summer.
Don't waste any time on Lake Erie.
Lake Huron is lovely and not as populated as Lake Michigan. It doesn't have the huge white sand dunes, but it has fewer people.
Traverse City is the single most overrated city I've been too. If you're staying there with family, you can day trip to Sleeping Bear Dunes, it's only 45 minutes away. If you need a campground, you'll want to stay at Platte River, set your alarm to book this site for the minute it's open. Be sure to stop by Cherry Republic. They have free samples and it's delicious. Ferry over to Manitou Islands, there are two, research which you'd prefer to visit. Tube down the Platte River.
Lake Superior is pure bliss. The beaches, the water, the color...spend lots of time on it and visit different areas, each beach is different. Some have sand, some have smooth rocks or agates, some have tons of drift wood, and some have sandstone. The Porkies has all of the above and on the same beach; their Ranger programs are amazing.
You can swim in Lake Superior. We've done it twice. The warmest spot in the Lake is in Whitefish Bay, Brimley state park.
You can't go to Michigan without visiting Mackinac Island. Stay at Wilderness state park, you'll thank me later. If you don't make it to the island, stop into Fort Michilimackinac. It's just like the Fort on the island, with fewer people. Don't take your camper to the fort, it won't fit.
While in the UP, be sure to visit Adventure Mine in Greenland, Mi. It's a closed copper mine that offers tours. My family thoroughly enjoyed this. Very educational, fun, etc, etc. 5 stars. I even bought the tshirt.
If you love national parks, go to Isle Royale and Voyageurs. They are all about the water.
Have a great time. Planning is half the fun!!
