Our ride from Chicago to Madison via the Milwaukee suburbs. We took Illinois 19 East to Lake Shore Drive and US 41. US 41 North until it joins I-94 West. I-94 West to I-894 around Milwaukee, then back on I-94 West to Madison. In the Madison area, we took I-90 East/I-39 South to US 12 and US 18 West to our hotel. After checking in, we took US 51 to Wisconsin 30 to US 151 into town, then US 151 back down to the Beltline Highway to get to the hotel again.
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