It’s a pleasant though fairly monotonous 150 miles from the Twin Cities [1] to Duluth [2] along I-35. The towns and parks along this route aren’t quaint and remote like those on the St. Croix, but they are worthy of quick visits nonetheless—especially Banning State Park [3]—so schedule a little extra time for your drive north if you can.
Links:
[1] http://www.moon.com/destinations/minneapolisst-paul
[2] http://www.moon.com/destinations/minnesota/the-arrowhead/duluth
[3] http://www.moon.com/destinations/minnesota/st-croix-valley/north-duluth/banning-state-park