There are
474 mi
from Kansas City, MO to Waunakee, WI
That's the driving distance. It would take 9 hours 20 mins to go from Kansas City, Missouri to Waunakee, Wisconsin.
The flight distance (direct flight from Kansas City, MO to Waunakee, WI) is 388.42 mi.
474 mi = 763.08 kms