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Is there a public use version of the ACS, similar to PUMS, with household data? Or just the interface where you get custom tables?
There is a public use microdata version of the ACS. The format is different than the typical hierarchical file the Census Bureau has usually released. The data are released as a housing file and a person file that you merge via ID.
The codebooks also are not as pretty as the documentation that comes with the census:
http://www.census.gov/acs/www/datadocumentation/pumsdocumentation/
Another access method from the Census Bureau is:
http://factfinder.census.gov/home/en/acspums2009_1yr.html
The most direct access is probably through IPUMS: