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Rick-
Madison is a good decision point.
You could follow I90 to Chicago, then 80 tollway all the way (avoid like the plague).
An interested and sometimes beauitful route is thru Michigan's UP, great views of Lake MI while on US2 (Great Lakes Circle tour road), cross Big Mac into lower MI. Take I75 to MI 25 which is Great Lakes Circle road thru the thumb along Lake Huron. At Port Huron, cross to Sarnia, ON. Easy drive (shortcut) thru Canada. Take 402, 401, and Queen Elizabeth Way (Views of Lake Ontario) across escarpment, see Niagra Falls from Canada side, cross Peace Bridge into Buffalo, then 2 lanes to Bloomsburg.
"Avoid" route is tolls and semis; "Take" route 3 magnificent bridges and 3 Great Lakes. I haven't timed them out, but the lakes and bridges route is +/- 10% of the time of the Chicago route.