Heading North, maybe along Michigan 35 (western shore of Lake Michigan)? Check out JW Wells State Park, you can camp right on the waters edge.
Check out USFS and DNR motor vehicle use maps for areas you are interested in, they often list "dispersed" camp site locations.
Most of the lakeshore (Michigan / Superior) itself is private property, and they don't take kindly to outsiders (in my experience)... the few public access areas that allow camping are not free but are beautiful.
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