There are
691 mi
from Hereford, TX to Warrensburg, MO
That's the driving distance. It would take 12 hours 5 mins to go from Hereford, Texas to Warrensburg, Missouri.
The flight distance (direct flight from Hereford, TX to Warrensburg, MO) is 551.10 mi.
691 mi = 1,112.59 kms