Has anyone found a better way to Madison from Milwaukee yet? I need to go to Sun Prairie, Saturday morning. Yesterday, I took 59 to Palmyra, 106 to Fort Atkinson, and 12 to Madison. Very little traffic, and it seemed pretty quick. This sounds like it may be my best bet. But I can't decide if I should take 73 up to 19 then over to Sun Prairie, or stay on 12 'till N, then up to SP. I've never been on 73, 19 or N, so I don't know what's better. Suggestions anyone???