With a lot of searching around, the following route was followed for driving from Mysore to Goa : About 720 km !
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Leaving a few mega humps between Huliyar and Hiriyur, rest of the route is very good. The road between Hubli and Belgaum is the best I have driven in India. Belgaum to Panjim drive is very scenic and has a lot of twists and turns with a few bad stretches in between.
Left Mysore at 4:37 AM and reached Panaji around 5:30 PM. A fantastic drive of around 720 km in around 13 hours with a breakfast break near Hiriyur (not so good place; not recommended) and lunch at Kshema Inn in Belgaum(decent) and a lot of breaks in between; we could have had about 2 hours spent on breaks.
Fuel point: Petrol price in Karnataka during this time is around Rs. 58.90 while in Goa it is around Rs. 52.5. So plan your petrol refill accordingly!
A mega hump between Huliyar and Hiriyur:
Fantastic 2+2 lane NH4:
Scenic Belgaum to Panaji - NH4A
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