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The latest car magazine I just picked up had a Road America insert and I was reading the Direction to Road America.
Looks like they are recommending not using Route 57 as it will be under construction just south of Plymouth, it sounds like all four lanes!
So the directions from Chicago have you:
Take I-94 to Milwaukee.
At downtown Milwaukee continue north on I-43.
Staying on I-43 to Hwy 23 (Sheboygan).
Go west on Hwy 23 to Hwy 67 (67 is just North of Plymouth)
Go north on Hwy 67 to track (about 2 miles), or straight past the track into Elkhart Lake.
I hope this helps!!
Scott