Lake paddling is shuttle-free. Sterling Lake (Lake County) and Lake Atwood (McHenry County) are open, as are the restrooms at those facilities. I haven't looked into Busse, Skokie Lagoons, or Rock Cut State Park, but they may be open as well.
On rivers, paddle upstream and float back down. Pick up trash as you go, of course.
I'm all for taking a very cautious approach. Limiting the number of people per shuttle vehicle, and requiring people to wear masks during shuttles, are quite reasonable things to do. Recklessness will only contribute to repeated outbreaks of the disease.