In the lower, the majority is pretty lame in my opinion. Go to the upper and head west, once you get to Marquette...things get better. North of Marquette, or Champion area, or anywhere in the Keweenaw pennisula, or the Porcupine Mountains. All these places/areas offer great hiking/biking/backpacking. There are a couple cool spots to camp on the Grand Marais Truck Trail, right on Superior, and in that area northwest of Paradise.
If you want to head south, about the same drive time away, you have Hocking Hills area and Tar Hallow area. Lots of off roading type of trails/roads. But, most of the property along them is private...so dispersed camping is probably out of the question and l'm unsure about hiking. I stayed at Tar Hallow State Park.
First trip to Tar Hallow...
Not me...lol...but we got it up from its nap and on its way again.
If you're looking for better off roading, 4X4 trails...southeast Ohio.
Michigan is basically this...
Sandy trails with the ocassional mudhole. But, maybe a good place to get your feet wet.