Pick up your car on day two and start your drive to the picturesque villages, fruit farms and lighthouses that dot Door County’s craggy coastline. On the way, you’ll visit Milwaukee; once known exclusively as a brewing powerhouse it now features scenic river walks and Milwaukee Art Museum. Even those who’ve never opened a choke will appreciate the Harley Davidson museum. You’ll then arrive in Door County itself, the ‘Cape Cod of the Midwest’. With five state parks, ten lighthouses and over 300 miles of shoreline, this 75-mile long peninsula was named one of the top ten vacation destinations in North America. Spend the next two nights in a quaint village where shops and galleries are set in century-old barns, rustic log cabins and vintage homes.