HELP.. Need to travel to see family!! Budget very tiny...?

Let me try to keep the background story short

I grew up taking vacations in Minnesota every summer.. My father was from there, and all his side of the family still live there. Well, dad's been gone since 99, but I still think alot about his big brother and big sister, who still live there (uncle is in Bemidji, where they grew up.. Aunt is near ST. Paul)

anyway, my sis in law (mostly) and I decided we HAVE to get up there this summer, as it's been aLONG time, and my uncle's health hasn't been the best, we don't know how long he'll be around (near 70, already fought cancer)

The problem is, we are VERY low budget.. we don't have much money at all.. we'll be driving (yes, it will still be cheapest...sigh) IT will be three adults (me, brother, sis-in law) and their two kids (ages 4 and 9 months)

I'm especially concerned about lodging... everything is MINIMUM 60$ a night, which adds up quickly.. it would be SO nice to stay on a lake in the Bemidji area for at least a few nights
To be honest, Dad made pretty good money, and we usually would stay at a cozy, rustic resort on a lake (often Cass Lake)

I've been trying to research the resorts, KOA cabins (which seem to possibly be our best bet, financially) etc, etc..

I think we'll need two rooms, UNLESS one room has at least a queen and a single bed, and is REALLY spacey

I've been looking at two room options.. I don't mind sharing a room with my 4 year old neice, but WOULD mind sharing a bed.. My nephew will proabably use a travel "Crib" (you know, the fold-n-go playpens that can be used as a crib)

Anyway does ANYONE have any tricks or tips I maybe haven't thought of.. I REALLY want us to be able to afford this vacation!!! Please Help...

Oh, no, we cannot stay with family.. It would be badly imposing, and besides my uncle still lives in the house they grew up in, TINY TINY TINY.. at best, he has one couch...

Camping MAY be an option .. we'd have to rent a roof luggage carrier to be able to bring the gear

Consider renting a small RV and driving in shifts.