There is a KOA in DeForest. We have stayed there before and have reservations for the first week in July this year. In the KOA Directory it is called the Madison KOA. www.koa.com/camp/madison or (608) 846-4528
That KOA is the closest with full hook-ups. There is a county park just off the Interstate and US51 but I think it's W&E only. Just go to Google maps and search camping near DeForst, WI.
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