Seems like it is usually between 5 and 6 hours, since there are not any real cities to travel through. There are some grades on the way to Tucson, which may slow you down if you are driving a moving truck or have a trailer. However, the freeway is two lane or more. Advise that you stay west of the downtown area just so you don't have to face traffic if you are travelling on a weekday. Good places to eat in Willcox.
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