Camping-Illinois/Michigan with friends. Where to go?

I want to do some camping in a rustic, scenic atmosphere, preferably with a lake nearby. Just a tent and a car.
For those who have been camping a lot, are there any particularly special
places that you would recommend?
Things I'm looking for:
-Endless woods/forest to go hiking/wandering through(aka-breathtaking, adventure filled landscape)
-Place to setup tent and have a bonfire
-Water nearby either fishing/canoeing/swimming/etc..
These are just basic things. Open to suggestions if there is anything else you can recommend.

Would like to AVOID the R.V. campground-type experience and places littered with young families.

note: limited amount of funding.
 
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