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If you're planning to hit Navy Pier anyway, I'd definitely get off the SkyWay and onto Lakeshore at the first opportunity. Lakeshore is so much faster than the highways because of all the construction. If you can take the time, I'd wander through Gehry's Millennium Park or the Lincoln Park Zoo. Both are free and wonderful.
(We live in Kzoo, but head down to Chicago with fair frequency.)
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