Peninsula State Park in Door County, Wisconsin is a great place to go if you like to hike, bike, camp, fish, swim, golf, or take a scenic drive. There is an observation tower that is several stories high, but has a terrific view of the peninsula and Green Bay and is well worth the effort. There are numerous campsites (you'll need to reserve in advance), and if you didn't bring your bike you can rent one outside the park. You need to pay a visitor's admission fee to enter the park, but it is well worth it. And, if you like to golf, there is a great golf course there as well (and a driving range if you'd like to practice).
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