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they Driving out of yet?
As James said ATVs only at this point from Garrison but even with ATV please be extremely careful out there. With the extremely cold temps there are many VERY active cracks on the lake right now. During the day as temps rise they will push together and cause a heave but after dark when temps drop the ice will contract and a spot that you may have crossed easily during daylight could have opened up a couple feet wide.
With below zero temps in the forecast again unless you really know your stuff about how a big body of water like Mille Lacs can change I highly reccomend paying the $10 road fee to a resort to know you’re on a safe road