I'm traveling to Milwaukee for the first time (from Los Angeles) with my husband and 4 year old son. Any good recommendations for casual restaurants? We are pretty adventurous eaters, so not looking for specific recs, but my son has an affinity or hot dogs and bratwurst. ;) We will have a car and don't mind driving. I've heard that there are some good gastro-pubs around the area, but don't know if those are kid-friendly or not?
Thanks in advance.