My kids have done several sessions of Flint Hill the past two summers. What has worked best for our kids is a combo of half day specialty camps (they've done tennis, soccer, cooking, and art) and then the other half of the day in junior day camp. I think the supervision has been good and my kids have enjoyed it.
Not sure if this works for you commute-wise, but we've also had a good experience with Camp Greenway at Madeira School. It's a general day camp with really good counselors and great activities.
Good luck!
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