Thanks for the replies everyone. I ended up going a different path. The outfitter/lodge route was the only way we've done it in the past where we stayed at a lodge the night before shoving off and then taking out. But looking at the rates of the lodges and outfitters (at least the ones I looked at, just one night stay was going to be too much. And, if I didn't spend enough with them, which I wasn't going to be a big spender anyway, they wouldn't do business with me.
So here's the new plan. I'm going to reserve a camp ground in Grand Marais the night we drive up and just camp light so we're not unpacking a bunch. Then the next morning, we'll drive over to the ranger station and pick up our permit (which I just booked yesterday) and maps. Then we'll drive the rest of the way to a public access parking lot where we can park and shove off from. We'll stay at the same camp ground the night we take from the BWCA too.