Leave Green Bay around 7:00 AM for the roughly 3½-hour drive to Munising, following US-141 north through Wisconsin and then US-2 east into Michigan’s Upper Peninsula. Fill up before leaving and plan one quick rest stop; services become more spread out once you are north of Iron Mountain. The drive is straightforward but scenic, with long wooded stretches and occasional Lake Superior views. In Munising, stop for fuel and grab anything you need for the afternoon before heading to Pictured Rocks National Lakeshore.
Spend about 2½ hours around the Miners Castle area of Pictured Rocks National Lakeshore, the easiest section to enjoy on a tight schedule. The overlooks are a short walk from the parking area, but add time for the shoreline trails and the changing views of the sandstone cliffs. There is generally no entrance fee for the lakeshore, though parking areas can fill on pleasant September weekends. Wear shoes with good traction, bring water, and check the National Park Service road and trail conditions before leaving Munising; cell service can be inconsistent. Allow roughly 20–25 minutes to drive from town to Miners Castle.
Return toward Munising Falls for the short forest walk to the waterfall, allowing about 45 minutes. The trail is easy, though the rocks and boardwalk can be damp; the site is free, with parking near the trailhead. From there, drive about an hour west to Marquette and settle in at Blackrocks Brewery on the waterfront for an early dinner and locally brewed beer. Expect roughly $15–30 per person for a casual meal and drinks; hours and food-truck availability vary, so check the brewery’s schedule before setting out. Finish at Presque Isle Park, about 10 minutes north of downtown, for the sunset drive around the peninsula and open views over Lake Superior. The park is free and usually remains accessible into the evening, but bring a jacket—the lakeshore can feel much colder after dark.
The listed timing needs one adjustment: after arriving in Sault Ste. Marie from Marquette, you cannot realistically make a 7:30 AM departure for Tahquamenon Falls State Park. Plan this as a late-morning outing instead, leaving around 9:30–10:00 AM for the roughly 1½-hour drive via I-75 and M-123. Enter at the Upper Falls, pay the Michigan Recreation Passport day-use fee—about US$11 for a nonresident vehicle—and allow around two hours for the paved viewing areas, stairways, and river overlook. September is an excellent time to go, with fall color often beginning to show; wear sturdy shoes and bring water, as the park is much more spread out than the main overlook suggests.
Return to Sault Ste. Marie for lunch on your own, then spend the early afternoon at the Soo Locks Visitor Center, generally open seasonally from late morning into the afternoon. The grounds and viewing areas are free, while the interpretive exhibits and any boat-tour options may have separate fees; check the day’s freighter schedule before visiting, since watching a 1,000-foot Great Lakes vessel rise or drop through the locks is the highlight. Parking is available near the center, and it is an easy drive from the falls approach. From there, head downtown to the River of History Museum for about an hour—hours can be limited late in the season, so verify the schedule before committing, with admission typically around US$5–10. The compact exhibits are a good introduction to the city’s Indigenous, fur-trade, canal, and maritime history.
Have an early dinner at The Antlers Restaurant, a long-running downtown favorite known for hearty Upper Peninsula portions and a rustic, taxidermy-filled interior; budget about US$20–40 per person, and expect possible waits at peak dinner time. Afterward, walk the Water Street Historic Block, where older commercial buildings and waterfront views give Sault Ste. Marie its most atmospheric evening stroll. Allow about 45 minutes, keeping in mind that some businesses close early on Sundays. If you are continuing to Sault Ste. Marie, Ontario for the train, confirm your hotel and border plan tonight: the Agawa Canyon departure requires an early check-in, and you should have passports, vehicle documents, and the rental agreement ready for the International Bridge crossing.
Be at the Agawa Canyon Tour Train station in Sault Ste. Marie well before the published departure—ideally 45–60 minutes early for check-in, boarding, and parking. The full excursion typically takes 10–11 hours round trip, so bring a packed breakfast, plenty of water, comfortable walking shoes, and a light jacket; food service may be available, but it is wise not to rely on it. The train travels north through boreal forest and rugged Canadian Shield scenery, with large windows offering the best views from either side at different points. Keep your passport accessible, even though the excursion remains in Canada.
At Agawa Canyon Park, use the scheduled stop for the designated trails, lookouts, and waterfalls rather than wandering beyond the marked areas—the train will not wait for late passengers. The main route includes stairs and uneven ground, so allow time for a steady climb and save the most scenic overlooks for photographs before returning to the station. Pack a picnic lunch or snacks for the stop, since the available time is limited and facilities are basic. Reboard early, with your ticket and train-car information handy, and enjoy the return journey as the light changes across the forest.
The train’s return to Sault Ste. Marie is late enough that driving straight to Green Bay is generally a poor choice, even though the route is approximately 6½–7½ hours before allowing for the border crossing. If you are fully rested and have arranged a confirmed late-night arrival, take the International Bridge into Michigan, follow US-2 west toward St. Ignace, and continue through the Upper Peninsula toward Escanaba and Green Bay; check border wait times and road conditions before leaving. Otherwise, keep the car parked, stay overnight in Sault Ste. Marie, and begin the drive the next morning. Expect a passport inspection at the bridge and remember that you will be returning to the United States.