If I was going on Sunday I would wake up early and just drive down in the morning. Google says that it's a 2-1/2 hour drive for me from West Allis but in reality I think it's at 2 hours or just a little under.
It's all about preference and how much money you want to spend. For me I probably get more sleep if I stay at home and drive down in the morning. If I stay in a hotel down there I'm more likely to stay out late and sleep worse.