The North Shore is a rugged, scenic place. But along the Minnesota shore, the most rugged and the most scenic part is in Grand Portage and beyond to the Pigeon River. It's the far end of the North Shore, and it's worth the extra hour drive past Grand Marais.
The land and the terrain are stupendous. Even the wayside rests are spectacular. The wayside rest with the best view on the North Shore or even in Minnesota is Mt. Josephine wayside just east of Grand Portage and just west of the Pigeon River. Highway 61 cuts through the massive diabase dike of Mt. Jo and then this amazing view pops out.
To the east (above), there are great views from a pretty good height out over Wauswagoning Bay and the Susie Islands.
To the south (below) are the rugged cliffs of Mt. Josephine itself:
The facilities there are only an outhouse and a Dumpster, which has some sage advice and proscriptions:
Visitor facilities in the Grand Portage/Pigeon River area will be changing over the next few years, as the new visitor center opens at the State Park. I hope this wayside rest will stay open, if only for the views.