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Good restaurants to try?
Where to stay?
What to do? (besides a baseball game.) 
Sorry for all the posts, I'm bored.
Re: Been to Milwaukee?
I lived there for 5 years and loved it. I miss Milwaukee big time.
When would you go? Make sure to check out what festival is going on at the Lakefront Festival Park. The Milwaukee Art Museum and Children's Museum are both located near the lake shore as well. The Pabst Mansion is cool to walk through.
The Lakefront Brewery is close to downtown and pretty fun for a tour. If you will have T with you, I might say drive a little north to Sprecher brewery. They have a short tour and a fun mini beer garden set-up inside at the end with Oompa band music playing. They make very good root beer and other pop, including an Orange Dream pop, so T would have something he could taste, too.
There are many awesome restaurants to try. Cempazuchi for Mexican and Bella's Fat Cat for frozen custard and jumbo burgers on Brady Street on the East Side. Milwaukee Ale House in the Third Ward for Friday fish fry. If you are up for some kitschy fun, check out The Safe House.
Uh, I could really go on and on. And I will if you guys end up going over. I think Mike, Henry and I need to make a trip there this Spring. It has been too long.
Yay. This is perfect.
Mike has been itching to take the boat over there. We'll likely only have about 2 full days there. We'll want to squeeze in a Brewers game.
Is it walkable/taxiable like Chicago or will we have to take a car? I'd rather not take a car if we can manage without one.
You won't have a problem getting around without a car. All my suggestions are walkable from downtown hotels or a short, cheap taxi ride. Miller Park is a slightly longer taxi ride, but still not bad.
They have (or at least they used to) a free shuttle that runs to the games. Just be sure you catch the bus when you see it because it doesn't run all that often.
Hoek - where is the Mexican place you suggested? I remember going across the river and walking a couple of blocks to one. It had lots of outdoor seating. It was really good.
The zoo is really nice, but you would need to take a taxi. They also have a children's musuem, but we never made it that time when we went to Lake Geneva. We were going to go after the zoo, but both girls conked out in the car, which is a rarity, so we drove back to the condo.
Cempazuchi is on Brady street on the East side. It is maybe a mile in from the lake and just north of downtown. I wonder if you went to La Perla, which is a little southwest of downtown. Does a mechanical hot pepper you can ride ring a bell?