I just travelled to Goa from Pune by car (19th Dec 2010) and here are some details on roads and travel for enthusiasts...
We started at 5am from Pune and followed following route and reached Goa by 2 pm for lunch.
Pune (NH4) - Kolhapur - Nipani -right from Tavandi Ghat end - Uttur - Ajara - Amboli Ghat - Sawantwadi - Mapusa
This road is good except 30 km patch from Tavandi to Ajara. This road is full of pothholes and craters and this would absolutely reduce your speed to zero at times. So avoid this road to save your car and time.
Instead of this route take right at Sankeshwar i.e goahead of Tavandi ghat right turn on NH4 itself. I took this route on my way back and road is far better with speed varying between 60-80kmph in ghat section. Pune to Sankeshawar (290 kms) is NH4 where you can drive at 100 above.
Good Road -> Pune (NH4) - Kolhapur - Nipani -Sankeshwar right - Gadilganj - Ajara - Amboli Ghat - Sawantwadi - Mapusa
Again advise is don;t try to speed up your car from Sankeshwar to Sawantwadi section to save on time as there are sharp turns and driving at nominal speed would help you enjoy your ride. Also ensure that your tank is having good amount of fuel before you turn right at Sankeshwar.
Starting from pune we took our first halt for breakfast at Karad (Hotel Pankaj on highway itself) which is good.
Second halt was at Hotel Kamat near Amboli ghat.
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