After an hour of back roads north of Grand Marais you'll come upon Esther Lake Campground. It's a primitive campsite located on Esther Lake (obvi) and maintained by the Judge C.R. Magney State Park in Grand Portage State Forest. There are 3 sites and all are first come first serve. Only one site is on the lake and it's really the only worth working to stay at as the other two are nothing special. They are spacious though and you can tent or rv camp in all the sites. There is a boat launch and dock as well as a vault toilet which is a bit of a bonus considering the remoteness. The lake is most definitely worth the drive. It's beautiful, pristine and your typical iconic northwoods lake with giant eastern white pine, rock outcrops and islands. In the campground there is a very short trail to a lovely rock outcrop that slides into the lake. Mealtimes here are a must if you don't get that lakefront site. The lake is clear and swimmable.