This park in Wisconsin has 2 sites you can canoe to but the park really caters to hikers on the Ice Age trail. Take a look at this "landing". Great hiking in the park but canoeing seems like an afterthought. Only lake with fish in, where the photo was taken, also had private cabins on it.

Hmmm...in shoulder season I wonder if this place is not much used?
For me, it could be a regular weekender.