David, I ran your locations through my GPS software and it shows the I-17 to Camp Verde/General Crook/AZ 260 to Taylor route as having an estimated travel time of 4-1/2 hours and 188 miles but that may vary depending on your actual travelling speed and any traffic along the way.
Coming down I-17 to Loop 101 to Shea to AZ 87 and then to AZ 260 is a faster estimated time of 3-3/4 hours and 190 miles but you will also be facing a much greater potential for added traffic, especially if you are leaving on Friday.
The first route above seems like a better choice simply because there is likely to be less traffic in the road on that particular route.
Hopefully that helps and didn't just add to the dilemma.