Many members of this forum recommend chartering or renting a boat. I don't agree. It is very expensive and time consuming. I don't necessarily have an option to offer but I always suggest "GET ON SOME BOATS."
Friends boats, boat shows, answer want ads. Hang around marinas, talk to boaters.
If a stranger walks up to me while I am working on my boat. If he is sober, polite, dressed like a boater, introduces himself and offers his hand and generally appears to be "in the market" I will gladly spend time with him. I often invite people aboard.
It might be risky, I know. But, Covid aside, to me, the risk is small. Come on, it's Northern Wisconsin!
A day spent at a marina or on a friends boat will teach you a TON.