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Trip from Waunakee, WI to Muskego, WI

Compiled and reviewed by the Trip.ovh planning team at COD Solutions Oy · Last reviewed Apr 17, 2026 · Editorial standards

Drive Time

1h 41m

Distance

82.9 mi

133 km

Drive Score

7/10

Good drive

Same Day?

Yes, doable

Fuel Cost

$13

one way

EV Charging

Unknown

Best Time to Leave

Save up to 23 min
4 AM
1h 33m ★
6 AM
1h 41m
8 AM
1h 56m
10 AM
1h 46m
12 PM
1h 45m
3 PM
1h 47m
5 PM
1h 55m
8 PM
1h 36m

Estimated drive times based on typical traffic patterns. Actual times may vary with weather, construction, and real-time conditions.

Best Time Drive vs Fly
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village in Dane County, Wisconsin

Waunakee, WI

Wikimedia Commons

Downtown Muskego, WI, WI

Muskego, WI

Vladimir Srajber

Trip Overview

The drive from Waunakee, WI to Muskego, WI covers 82.9 miles and takes about 1h 41m behind the wheel. This route is realistic as a one-day drive if you keep your stops efficient.

The route leans on I 94, South Moorland Road, I 39 for much of the mileage, and the overall profile is highway-focused drive. The longest uninterrupted segment is about 60.9 miles on I 94. At current regular gas prices, budget about $12.96 one way before food or hotel costs.

Trip Pace

Same-day drive is realistic

A same-day return is realistic if you keep stops short.

Midpoint

41.4 miles from Waunakee, WI

A natural place for your longest stop of the day , about 48m into the drive .

Who Is This Route For?

Weekend Trip

Doable as a same-day drive at 1h 41m. Total distance: 82.9 miles.

Family Friendly

Moderate complexity with 0 natural rest stops along the way.

Solo Traveler

1h 41m drive, comfortable solo distance.

First-Time Driver

Mostly highway driving (87%). Some complex stretches to watch for.

Drive Character

This is a 1h 41m highway drive covering 82.9 miles, with most of the trip on I 94 and South Moorland Road. The longest continuous stretch is about 60.9 miles on I 94.

Most of the miles stay on highways, which makes pacing and fuel planning easier than turn-by-turn city driving.
There are about 21 navigation steps in the underlying route data, so the final approach matters more than the middle miles.
I 94 is the longest continuous segment at about 60.9 miles.

How Hard Is This Drive?

This is a straightforward highway drive that stays mostly on I 94 and South Moorland Road. You will hit about 13 points where you need to pay attention to lane position or signs. The trickiest moment comes around 5.6 miles in.

Driving Effort 6/10

Moderate - straightforward overall, but long enough or busy enough to require pacing

Balances navigation complexity with total wheel time.

This drive requires moderate attention. Across 82.9 miles you will encounter 13 spots where lane choice or exit timing matters. Not difficult for experienced highway drivers, but worth previewing the tricky sections before you go.

Where does it get tricky?

The main spots that need attention: at 5.6 miles: Lane positioning matters here. Multiple destination signs - pick the right one; at 6.1 miles (I 39; I 90; I 94): Merge point - match speed before joining. Lane positioning matters here; at 12.4 miles (I 94): Highway fork - watch signs carefully. Lane positioning matters here.

Critical Maneuvers

5 of 13 key points

These are the spots where you need to pay the most attention. Preview them before you drive.

7
5.6 mi into trip | ~9m in

Take the ramp toward I 39 South, I 90 East, I 94 East: Madison

Lane positioning matters here. Multiple destination signs - pick the right one

Use the right lane. Toward I 39 South, I 90 East, I 94 East: Madiso...
5
6.1 mi into trip | ~10m in | I 39; I 90; I 94

Merge onto I 39; I 90; I 94

Merge point - match speed before joining. Lane positioning matters here

Use the straight / slight right lanes.
8
12.4 mi into trip | ~16m in | I 94

Keep slight left at fork onto I 94 toward I 94: Milwaukee

Highway fork - watch signs carefully. Lane positioning matters here

Use the straight / slight right lanes. Exit 138A Toward I 94: Milwaukee
7
73.3 mi into trip | ~1h 22m in

Take the exit toward I 94 East Alternate: Moorland Road

Exit ramp - move to the correct lane early. Lane positioning matters here

Use the straight / slight right lanes. Exit 301A-B Toward I 94 East Alternate: Moorland Road
7
73.7 mi into trip | ~1h 23m in

Keep slight right at fork toward I 94 Alternate East: New Berlin

Highway fork - watch signs carefully. Lane positioning matters here

Use the right lane. Toward I 94 Alternate East: New Berlin

Main Roads

Road Distance Duration
I 94 60.9 mi 1h 5m
South Moorland Road 7.3 mi 13m
I 39 6.3 mi 6m
State Highway 19 3.9 mi 5m
Janesville Road 1.8 mi 4m
WI 19 1 mi 1m
West Main Street 0.7 mi 1m
Pioneer Drive <0.1 mi <1m
Longest stretch: I 94 — 60.9 mi, about 1h 5m

Turn-by-Turn Driving Directions

Step-by-step road directions between Waunakee, WI and Muskego, WI.

1

Start on WI 19; WI 113

0.7 mi · 1 min · West Main Street
2

Continue on WI 19; WI 113

1.5 mi · 2 min · State Highway 19
3

Enter roundabout onto WI 19

136 ft · 7 sec · State Highway 19
4

Continue on WI 19

2.4 mi · 3 min · State Highway 19
5

Enter roundabout onto WI 19

143 ft · 8 sec · WI 19
6

Continue on WI 19

0.9 mi · 1 min · WI 19
Use the straight lane.
7

Take the ramp

0.5 mi · 1 min
Toward I 39 South, I 90 East, I 94 East: Madison Use the right lane.
8

Merge onto I 39; I 90; I 94

6.3 mi · 6 min · I 39; I 90; I 94
Use the straight / slight right lanes.
9

Keep slight left at fork onto I 94

61 mi · 1 hr 5 min · I 94
Exit 138A Toward I 94: Milwaukee Use the straight / slight right lanes.
10

Take the exit

0.4 mi · 56 sec
Exit 301A-B Toward I 94 East Alternate: Moorland Road Use the straight / slight right lanes.
11

Keep slight right at fork

183 ft · 4 sec
Toward I 94 Alternate East: New Berlin Use the right lane.
12

Turn straight onto CTH O

4.7 mi · 8 min · South Moorland Road
Use the straight lane.
13

Continue on CTH O

331 ft · 7 sec · South Moorland Road
14

Enter roundabout onto CTH O

220 ft · 4 sec · South Moorland Road
15

Continue on CTH O

0.2 mi · 17 sec · South Moorland Road
16

Continue on CTH O

0.1 mi · 11 sec · South Moorland Road
17

Enter roundabout onto CTH O

124 ft · 2 sec · South Moorland Road
18

Continue on CTH O

2.2 mi · 4 min · South Moorland Road
19

Turn right onto CTH L

1.8 mi · 4 min · Janesville Road
20

Turn left onto Pioneer Drive

143 ft · 6 sec · Pioneer Drive
21

Arrive at destination

Pioneer Drive

Trip Plan

Morning Departure

Leave by 9 AM and you'll arrive before lunch.

Evening Departure

Even a 4 PM departure gets you there before dark in summer.

You can normally do this drive in one day.
You may only need one short stretch break if traffic stays light.
The halfway point lands around 41.4 miles from Waunakee, WI, or about 48m into the drive.
The longest continuous stretch on this route runs about 60.9 miles.

This is a comfortable same-day trip.

Departure

Before you leave

Start with fuel, water, and navigation already sorted so the first hour feels easy.

First stop

Around 18 miles or 22m in

Use this first pause for coffee, a restroom break, and a quick traffic check ahead.

Halfway reset

Around 41.4 miles or 48m in

This is the best place for your longest stop, a real meal, and a full fuel check.

Final approach

Final hour starts around 1h 19m

Traffic, exits, and arrival timing usually matter more near Muskego, WI than in the middle of the route.

Before You Leave

+

Open the route before leaving Waunakee, WI so your first major turns are already loaded.

Day 1

Settle into the route from Waunakee, WI

This is one driving day of about 82.9 miles and 1h 41m.

Your first comfortable stop window is around 18 miles from Waunakee, WI.
This route can stay practical as a one-day drive if traffic stays reasonable.
The longest stretch is on I 94 for about 60.9 miles.

Where to Stop

Rest stops, refuel points, and overnight suggestions along this route.

Halfway Point

Midpoint

About 41.4 mi from Waunakee, WI · 48m into the drive

city in Waukesha County, Wisconsin, United States

Mid-route town

Meal stop

Oconomowoc, WI

41 mi into the route

Best for: Lunch, fuel, and a longer reset

This sits close to the middle of the route, so it works well for the longest stop of the day.

Pacing Suggestions

Cottage Grove, WI

Fuel and coffee

A short stop after about 18 miles helps settle the day before fatigue starts building.

Farmington, WI

Meal break

The midpoint is around 41.4 miles from Waunakee, WI, which is a good place for a longer meal and fuel stop.

Before the longest stretch

Fuel check

Top up before I 94 if your tank is already low. That segment runs about 60.9 miles.

Arriving in Muskego, WI

The final approach into Muskego, WI usually feels slower than the middle of the drive, so avoid planning your tightest schedule at the very end.

These stop ideas are pacing suggestions — the exact town or exit can change with traffic, hotel plans, and fuel range.

Nearby Places

Restaurants, cafes, gas stations and more along your route.

Birch & Banyan Coffee

4.9 ★ ★ ★ ★ ★

Later in the drive, ~10 min detour

4.1 mi from route ~10 min detour $1 to $10 mile 59.2

Hartland, Wisconsin

Hours: 6 am–5 pm

+12625631034

Visit website

Place data sourced from public business listings. Hours and availability may vary.

Fuel & Cost

Regular Gas

$12.96 one way

$25.92 round trip

$3.97/gal 25.4 MPG avg 29 kg CO2
Fuel Type $/gal One Way Round Trip
midgrade $4.36 $14.23 $28.46
premium $4.89 $15.95 $31.91
diesel $5.61 $18.30 $36.61

No toll roads detected on this route.

Estimated Trip Cost (one way, 1 person)

Fuel

$13

Meals

$25–$50

Total

$38–$63

Rough estimate based on US averages. Hotel $80–$140/night, meals $25–$50/day.

Estimated CO2 emission: 29 kg one way. Prices: EIA weekly data, 2026-04-13.

Driving Electric?

About $9 in charging · 0 stops · 66% less CO2

Vehicle Type kWh Stops DC Fast Home Charge
Average EV 24.9 0 $8.70 $3.98
Efficient EV 20.7 0 $7.25 $3.32
EV Truck/SUV 33.2 0 $11.61 $5.31

Gas CO2

29 kg

EV CO2

10 kg (66% less)

This trip is well within single-charge range for most EVs. No charging stops needed if you start fully charged.

DC fast charging avg $0.35/kWh. Home charging avg $0.16/kWh. US grid CO2: 0.39 kg/kWh.

Travel Intel

Current conditions at both ends of the drive.

Forecast as of Apr 17, 2026

Origin

Waunakee, WI

Afternoon in Waunakee on Friday

Local time

2:26 PM

CDT

Current temp

47°F

Unavailable

Live forecast

Destination

Muskego, WI

Afternoon in Muskego on Friday

Local time

2:26 PM

CDT

Current temp

77°F

Partly Sunny then Showers And Thunderstorms

SE 10 to 15 mph 77% chance Live forecast

Flood Watch

Flood Watch issued April 17 at 11:08AM CDT until April 23 at 1:00AM CDT by NWS La Crosse WI

Flood Warning

Flood Warning issued April 17 at 11:06AM CDT until April 20 at 7:00AM CDT by NWS La Crosse WI

Seasonal Notes

Summer travel usually means heavier construction, hotter rest stops, and busier weekend traffic around major cities.

Winter travel shortens daylight, so a route that looks manageable on paper can feel much longer after dark.

Holiday weekends tend to make both departure and arrival windows slower than the raw route time suggests.

Time zone

Same local time

Origin and destination are on the same clock, so arrival timing is easier to judge at a glance.

Temperature spread

30 degrees warmer at arrival

A meaningful temperature swing is a good cue to rethink layers, water, and how soon you want to arrive.

Road read

1h 41m on the road

The weather snapshot is not static. If you are leaving later, give both cities one more quick forecast check before departure.

Weather data from the National Weather Service. Conditions may change; check closer to your travel date.

Frequently Asked Questions

The drive from Waunakee, WI to Muskego, WI covers 82.9 miles and takes about 1h 41m without stops. Add 15-30 minutes for a fuel or rest stop on longer drives.

The main roads are I 94, South Moorland Road, I 39. Most of the drive stays on highways, so watch for ramps and exits.

This is a comfortable same-day trip.

The midpoint is about 41.4 miles from Waunakee, WI. Look for rest areas, gas stations, or food options near the halfway mark.

At current regular gas prices, expect to spend about $12.96 one way. This estimate uses 25.4 MPG — your actual cost will vary with your vehicle's fuel efficiency and current gas prices.

Leave by 9 AM and you'll arrive before lunch. Even a 4 PM departure gets you there before dark in summer.

This drive requires moderate attention. Across 82.9 miles you will encounter 13 spots where lane choice or exit timing matters. Not difficult for experienced highway drivers, but worth previewing the tricky sections before you go.

The main spots that need attention: at 5.6 miles: Lane positioning matters here. Multiple destination signs - pick the right one; at 6.1 miles (I 39; I 90; I 94): Merge point - match speed before joining. Lane positioning matters here; at 12.4 miles (I 94): Highway fork - watch signs carefully. Lane positioning matters here.

The route from Waunakee, WI to Muskego, WI does not surface many named destination signs beyond the main corridor.

How this page is built

Compiled by the Trip.ovh planning team at COD Solutions Oy from open government datasets — OSRM over OpenStreetMap for geometry, and EIA for fuel prices. See our methodology for refresh cadence and limitations.

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