Easy drive from SV to Lawsonia.
Erin Hills is worth adding to your itinerary and is
basically on the way from Lawsonia to Milwaukee.
Don't get suckered into playing the "other" course at Lawsonia. It's just not worth it unless you cant play another round on the "main course" and you have the time.
Or, play a round at Whistling Straits.
But, IMO, the Straits Course is the only one worth going out of your way for...except for its "3 easy payments of $150" price tag plus caddy....