take your time driving up. Youll go through Sturgeon Bay, Baileys Harbor, Egg harbor among others. It all depends on what you want to do. There will be markets, festivals some sort of tourist ploy on any weekend in the summer. Stop at them, look around, take it in. Pick cherries, stop at wineries. I know a great B&B in Sturgeon Bay if interested.
www.thechadwickinn.com.
Fish Boils are good, never had one at white gull inn, but to me that place seems a bit too "touristy" if that makes sense at all. Al Johnsons is something to see. But the best part of a Door County trip is just going through the towns on the highway, stopping walking around going into shops, cafes etc.
If your feeling adventurous head all the way up to Washington Island. Take the car ferry across with or without your car. Rent mopeds and tool around the island.
Your best bet is the door county tourism board.
www.doorcounty.com