I would get to the lakefront path, take that all the way north (try to avoid it after 5pm if possible, it will be congested) and pick up Sheridan Rd. at the end of the path. Sheridan will take you up to Kenosha in more or less a straight shot. It is very scenic as well, running pretty close to the lake and past some great homes and semi-wooded areas, especially north of Evanston.