Ideas for a 4-5 day trip within a 9 hour drive of Detroit Michigan?

I'd love to hear recommendations for an interesting trip for a family with young children within a 9 hour drive of Detroit!

We like: adventures, hiking, waterfalls, scrambling on rocks, caves, kayaking, ferry boats, bonfires, biking, swimming holes, clear rivers, bridges, beautiful views.

We also like: hole-in-the-wall ethnic food places, interesting/incredible bakeries, farmers markets, unique museums, botanic gardens, cryptids/legends, niche/quirky places, lodges, cabins, pools, and continental breakfast at hotels.

We don't enjoy: sprawl, traffic, cities, expensive dining, flatlands, most of Ohio.

We have already done: everything Michigan (seriously). New River Gorge WV. Starved Rock IL. Cuyahoga, OH. Swathes of Ontario including Grand Bend and Wawa.

Thank you for any suggestions!