Milwaukee is a great town (also not far from Madison), never been to KC but always heard great things about it, Duluth/Superior is very beautiful, The Upper Peninsula of Michigan will blow you away if you are into natural beauty and woodsy things (I can point you in the right direction of some great spots there), Detroit is always a great time, Ann Arbor (although it seems a lot of kids have left town over the last year, its still pretty much the destination for kids travelling through MI.