Two lights roughly 5 minutes apart about as bright as Mars or maybe Saturn
According to CalSky (https://www.calsky.com), there were two Iridium flares visible low in the south-east from Minneapolis at 21:18 (Iridium 60) and 22:28 (Iridium 55) on that evening. Both would have been about 15 degrees elevation and both in the right ballpark for brightness.

Iridium flares occur when the rising / setting Sun's rays bounce off the antennae or solar panels of one or other of the Iridium communications satellites. By their very nature they occur around dusk or dawn. They'll flare up, persist for a few seconds and fade away.