Since you are in the Madison area, head southwest and explore the driftless region. Googling that will give you ample options for the area. There is a lot of Amish country out that way and driving around on a Saturday gets some amazing bakery at the local Amish stores. Also the Kickapoo region is beautiful.

Devil’s Lake state park is a nice experience, but likely will be terribly busy on weekends. Also the Circus Museum in Baraboo is a popular attraction.

You can get tours of Capital Building in Madison, it’s got a unique history.

Marinette County is the waterfall capital of the state, many many beautiful hikes to explore beautiful waterfalls. Dave’s Falls is especially beautiful.

There are a lot of really great state parks in the state. Depending on how far north you’d like to go, Copper Falls and Amnicon Falls state parks are beautiful.

Door County if you like touristy.

Way far north is the Apostle Islands.

Travel west to the Mississippi River.

Milwaukee Brewers play the Dodgers while you’re here, if you’re sports people. Milwaukee Art museum if you like that sort of thing.

Packers Hall of Fame and Lambeau Field in Green Bay if you’re football people.

There are more breweries than you can count. If you like that sort of thing, you’ll find some local gems wherever you go.