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The western half is kinda empty in this state.
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Take the great river road (35) south out of Superior. It takes you through the driftless area along the St Croix and Mississippi Rivers.
Along that route you will find lots of places to stop off for all kinds of activities. Taking it from Superior there are way too many things to do in one day.
In Superior you have the Dick Bong Museum.
About 40 minutes south you have a state park with the tallest waterfall in WI.
Next stop is the Dalles of the St Croix River. Pretty cool area. Cliffs over 100 feet tall over the river. When we were kids we jumped from them. They frown on that now.
As you move south you go from flat or rolling hills to the areas where the Glaciers missed all those years ago. This starts south of Hudson. Deep valleys and high bluffs are the norm.
You won't have time to see much, but it is one hell of a drive in the fall.