Hruska’s retired and sold their business 3-4 years ago. It’s called White’s Riverside Campground now. I’d recommend them for that iconic Kendalville to Bluffton float. Harvest Farms north of Cresco runs a less crowded (but still beautiful) stretch of the Upper Iowa. Hutchinson Farm is closer to Decorah. I think Upper Iowa Resort near Dorchester runs shuttle on the lower reaches closer to the Mississippi.
Anywhere between Granger/Florenceville and Decorah will have the bluffs, cliffs, and springs people come to the Upper Iowa for.