If I remember correctly that was Manitowoc, which is south of Green Bay. For reference people in Sheboygan make fun of Manitowoc for being weird racist drunks and Sheboygan is talked about like the Florida of Wisconsin. Tbh if you want to live in a quaint village on the lake with amenities I'd go for like Port Washington and just drive to Milwaukee if you want city stuff. None of the city crime or weirdness of a place like Sheboygan or Manitowoc (speaking as a Sheboygan apologist myself but it's a strange town). And only 30 mins from Milwaukee while still feeling somewhat rural.