Don't mind going for a drive, but trying to keep it under an hour. Heard good things about Winnequah Gun Club, but not sure I'm ready to shell out for a membership. Also would like to find a place I could bring a friend with me.
This isn't super close to Madison (probably ~1 hour), but McMiller range in Eagle is decent. It's open to the public, and $22 will get you all day access to the .22 plinking range, pistol range, and 50/100/200/300 yard rifle ranges. Don't think there's much in terms of "tactical" i.e. dynamic targets or pistol bays, but it works.