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We haven't camped there (even though we were pulling our camper the last time we were there), but I would look at the state parks. Peninsula State park in Fish Creek is very nice and large.
Some of my favorite memories of our trips there include: a day trip to Washington Island (make sure to see the beach with the rocks; I think it's called School House), pick cherries, go wine tasting, tour a lighthouse, watch the sunset at the park, and make sure to go to a fish boil. One of my friends has gone sailing there, and said it was great!
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