5 hours (330miles) from Minneapolis:

I 94 east to WI 29 east, via Ext #52

Stay on WI 29 east, to Green Bay.

Once in Green Bay, merge onto US-41 N toward MARINETTE for approx. 2 miles

Merge onto I-43 S via EXIT 171 toward MILWAUKEE for approximately 5.5 miles

Merge onto WI-57 N via EXIT 185 toward STURGEON BAY / ALGOMA for approximately 41 miles. 

2.5 hours (150 miles) from Milwaukee:

Merge onto I-43 N  toward GREEN BAY. 

Merge onto WI-57 N via EXIT 185 toward STURGEON BAY / ALGOMA. 

4 hours (240 miles) from Chicago:

Merge onto I-94 W. 

Take I-43 N toward GREEN BAY. 

Merge onto WI-57 N via EXIT 185 toward STURGEON BAY / ALGOMA. 

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