As a nonresident, you must file a Minnesota return if your Minnesota gross income meets the minimum filing requirement ($10,650 in 2018). If you filed the Minnesota state tax, you would only be able to get the $41 returned so you would be out $3.99 if you use Turbo Tax to prepare the return.
Unfortunately, you would have to prepare the Nonresident return on paper to get the refund, which as you said would probably not be worth the effort based on the value of your time. As a nonresident employee, the camp is required to withhold for state income tax for work performed in Minnesota because they are required to withhold for federal income taxes.
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