In downtown Auburn Hills, where Squirrel road and Auburn Road meet, there is a small park called the Clinton River Park. It is a great place to put your Kayak in the water and relax.
We paddled from there to downtown Rochester, under the bridge on Rochester road as you are leaving town to the south. It was a nice quiet 6 hour trip. I had a Dagger whitewater Kayak at the time. I still have it, but I have traded up for a smaller Wilderness Systems river kayak. If you are looking for a nice day trip that is very close to home, I would give this river a try.
There are several places where you can park a pick-up car to shorten your trip. Avon road (avon and Livernois) would be a good half way marker. It is surprisingly very secluded and scenic for being right in the middle of Oakland County. Just make sure you go when the water is at its high point, it can get a little dry in places.
Many hotels in Auburn Hills, MI
Take I-75 North to University Drive. Turn Right at Squirrel Road.
Approx. 3 miles down Squirrel there is a park on the left, that will work. The one I used is right on Auburn and then your first Right.