I've rented from Von Boxtel in Green Bay before. Several other friends have rented from firms in Madison, but I don't recall thier names. There was several companies in the Fox Valley renting that have had problems the last couple of years with ownership changes, etc. You can also find private rentals on Craigslist, but that's caveat emptor. I know of both positive and negative stories, but that all depends on the character of individual you rent from.
As it stands now, I plan on camping in HBC next to my RV-10 this year.
bob