I used to travel from Escanaba MI to Duluth MN a lot.
As others have said, a scenic route. Two lane mostly, with some passing lanes thrown in every now and then. Also it is 2 lane from Duluth to Grand Rapids, MN.
You should have no problems getting gas. Duluth/Superior is a major town with some larger gas stations with good access. There are campgrounds across Highway 2 in the U.P. State Parks and Hiawatha NF and Ottawa NF, plus some private ones no doubt. In N. Wisconsin, there are campgrounds in the Chequamegon NF, and also Brule River State Forest. Also there are Walmarts in Superior, WI, Duluth MN and Cloquet, MN where you can probably overnight for free. My Allstays App says all of these allow overnight camping but the Walmart in Ashland, WI does not. Be sure to call and check beforehand. There are private campgrounds between Duluth and Grand Rapids. There is a nice COE campground on the west end of Grand Rapids, MN and just north of Grand Rapids there are campgrounds on the Chippewa NF. Trying to find places near Memorial Day may be difficult without reservations. On Memorial Day Weekend it will be nigh on impossible. After Memorial Day (on your way home) it should be a breeze, as kids are back in school and many campers consider the summer to be over. But it is a beautiful time of year to be camping and travelling. Welcome to the North Woods! I hope you have a great time.
