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It is a beautiful area. You do not indicate the ages of your kids, but since you are camping I'm sure you are into outdoor activities. The state parks have many hiking, biking opportunities. The bay side has warmer water for swimming. If there are water parks, etc. they have been built since I was last there.
It WILL be crowded in summer, mostly with Bears fans. Personally I would go shorly after Labor Day. Less crowds, shops still open and WI usually has great fall weather.
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