If I were in a hurry and not interested in the scenic aspects, I'd opt for IH-10 to US-70/54. Google maps will indicate if there is any current construction on US-54, and even if there is, it's usually not much of a delay, IME.
If I had time to sight-see, I'd opt for US-60/AZ-117 to IH-40. It's about 30 miles shorter but also slower.