The scenic drive stretches from just north of Duluth to Two Harbors (22 miles?) but actually the beauty of the shore takes you all the way to Canada. There are some nice hotels along the way: Lutsen, Bluefin Bay, etc., which also have their own nice restaurants. There are countless State Parks as well and an abundance of fishing, bald eagles and wildlife. If you like to hike, two gems right off the shore are Oberg Mountain and Eagle Mountain (highest point in MN). Both offer breathtaking views always, but especially when fall colors are peaking. There is Split Rock Lighthouse, Palisade Head (be careful), Tettegouche, etc. Grand Marais is also a gem. Lots of shops and restaurants to choose from. The Dockside Fish Market (just down the hill on the right) offers good fresh fish as well as a variety of smoked. Take a drive up the side of the hill for another beautiful view. You can continue all the way to Canada if you like, with little gems all along the way. I have hiked and driven the shore countless times, and it never fails to calm my soul.