This post has absolutely nothing to do with food suggestions, but rather your intended route. As a frequent traveler to both Madison and Minneapolis, we've discovered the I-94 route (taking the 894 bypass around Milwaukee) to be the shorter, faster and, by virtue of having fewer tolls, cheaper path.
Looking at a map, I know it seems counter intuitive, but in fact it is all true. Also, the long stretches of construction happening on I-90, may make the I-94 route the more desirable choice.
Have a great trip,
Buddy