Good Family Trips
IL 96 in view of the river it is a beautiful drive with pull off areas.
If you want to add some more modern entertainment to the historic consider a stop in Burlington Iowa at Fun City, with laser tag, cart racing, etc. If you go to Burlington don't forget to go to Snake Alley, no real snakes. I will put in several links to help you plan. ----- Nauvoo Net also Beautiful Nauvoo
There is a rebuilt fort at Fort Madison -- see scenic Keokuk or Burlington
I recommend going to Nauvoo even though Erik has not forgiven the LDS for shutting down the famous blue cheese factory. He also holds a fanciful belief that a third brother Byrum Smith has been suppressed from history by some conspiracy probably because Byrum Smith liked blue cheese. Instead of cutting over into Iowa you might continue on to the south and head to Hannibal Mo. or Pere Marquette State Park but either destination will allow you to enjoy a leisurely drive through Western Illinois, a land shaped by great rivers and glaciers.