The MN stretch between Two Harbors and Grand Marais is wonderful. There is a pronounced dropoff in topography paralleling the shoreline, which results in many waterfalls in the rivers which drain into Superior. That's why you'll find so many nice state parks along that stretch, most of which have a river with waterfalls within their grounds. Walking along the riverbanks and along the lake shore is a great way to see, smell, and feel the area.
In addition to the SP CGs, there are private CGs in Two Harbors and Grand Marais. Reservations are recommended, because they do fill up. I'd say, pick a CG and set up your TT, then spend a couple of days roaming the area up and down the shore. Be sure to turn in at Palisade Head for a fabulous view high above the lake. At Grand Marais, park near the put-in and walk out past the Coast Guard building to Artist's Point. And about 2 blocks from there, get a pizza at Sven and Ole's.
Wisconsin's Apostle Islands and Michigan's Pictured Rocks are similar: cliffs along the water that are colored and streaked by mineral deposits. I've been on the Munising boat ride along Pictured Rocks, and it's pricey but worth it; besides the views, the captain kept up a running series of dry humor. Try to book the sunset cruise on a calm, sunny day and you'll get the best light on the rocks.
The Porcupine Mountains SP has east and west sides. The west unit features another of those rivers with waterfalls and trails along the banks, while the east unit features a great view above Lake of the Clouds. Both units have CGs. Also nearby Ontonagon has a nice municipal CG.
Mike G.
Liberty is meaningless where the right to utter one's thoughts and opinions has ceased to exist. That, of all rights, is the dread of tyrants. --Frederick Douglass
photo: Yosemite Valley view from Taft Point