Cliffside County Park is about 20 minutes south of downtown Milwaukee. No water connections, but it is big rig friendly and a beautiful park as a base.
As said the Harley Museum is excellent, as is the Milwaukee County Zoo. Also worth a visit is the Milwaukee Public Market in the 3rd ward. And you can’t miss the Milwaukee Art Museum. The Calatrava addition is free to the general public.
We love the Manitowoc/Two Rivers area. If you can get in, highly recommend Point Beach State Forest. If you can't get in try
Scheffel’s Hideaway. A little tight but great hosts and just outside the park. Full hookups available.
The Maritime Museum in Manitowoc is a highlight. Very cool to visit. On Saturday morning they have a pretty good farmers market across from the Manitowoc library. The Pinecrest Historical Village outside of Manitowoc is a really neat historical museum.
If you don't already have accommodations in Door County, I highly recommend
Egg Harbor Campground, just north of Egg Harbor. Full hookups available, excellent hosts, and 20 minutes from all the most popular things in Door County. It's 10 minutes from Bailey's Harbor. We stay here 3 times a season.
A drive through Peninsula State park called for. Lots of scenic overlooks. Cave Point county park is a beautiful and unique place to visit. The main part of it is wheel chair accessible. There is also “The Farm” which is a living working farm museum just outside Sturgeon Bay. Also drive around Door County, especially the side roads, beauty everywhere you go. There’s other things, most of what I’m thinking about requires walking or bike riding. If I think of anything else that’s easy I’ll update the post.
Look for Rustic Roads in WI. Usually these are roads which generally have an old time back woods sort of feel. You can find maps here:
WI Rustic Roads
Chuck D.
“Adventure is just bad planning.” - Roald Amundsen
2013 Jayco X20E Hybrid
2016 Chevy Silverado Crew Cab Z71 LTZ2
2008 GMC Sierra SLE1 Crew Cab Z71 (traded)