Dont know the area that well in terms of streets, only get up there about 1-2x per year. Mostly cruising in the car with wife and one or two of the dogs to take them into Split Rock State Park by the lake and onto that island it connects to (when access to island is allowed). Mostly just go straight up 35/61 and Old Scenic N. Shore Dr to Two Harbors (breakfast at Vanilla Bean)

then Keep heading north then turn off at different points. Furthest north I have been is Grand Marai (spelling?) Gotta get up further though, but it is hard because it is usually day trips because of the puppies.