I've never hunted too "near" Milwaukee, but here are m thoughts:

I've heard of Bong recreation area near Kenosha, which I believe is hunt able but may be a zoo for the gun season. I don't know, I've never been there.

The other thing, which is more near where I used to hunt, is the white River public hunting ground, but it's probably going to take just a hair over 2 hours to get there. It's near Princeton, WI. I believe it's like 10,000 acres or something. We used to hunt there when my our land would get slow.