Summertime road trips of 700-some miles into South Dakota, the Badlands and the Black Hills seem like a rite of passage. This is the most classic of vacations, especially for families, who follow typically flat and easy-to-drive I-90 for a glimpse of the Wild West. They encounter Shady Brady hats and jackalopes...

The Traveling Shepherd’s Best Wisconsin Towns poll is perfectly timed for those who want a close-to-home trip instead of a wallet-busting holiday. In our survey, nearly 3,000 people voted for favorites in 20 categories of Wisconsin towns. Now those recommendations can be your inspiration for summer day trips, weekends away or full-blown vacations. These are Wisconsin places you can afford to visit—even if gas prices reach the dreaded $4 a gallon. Here are the winners, close runners-up and tips on what else to look for when you get there.