OK, this is how I would do it. It is a mix of good twisty and fast main roads, but NO FREEWAYS.

Anyway, a long set of directions follow. The best roads of which are in
BOLD 39 West out of Telico P.
Pick up 315 South just West of TP. Continue S on 30 when 315 ends. This is a great section of twisty road with excelent pavement. West on 64 when 30 ends. If you want to make time, jump on I75 to get through Chattanooga otherwise pick your own route to get around it. There really isnt a good way that is direct.
Stay on 64 when it splits off from I75 around Mounteage. 64 is for the most part a main secondary road. Four lanes in places. Not a lot of traffic. It gets better the further West you go.
Turn North on 13 in Waynesboro, TN. Nice Twistys. Good pavement. Take 412 West in Linden. 412 is nothing special but it takes you where you want to go.
Just past Lexington pick up 104 (North or West??). 104 is a roller coaster of a road. Lots of fun. When you get to Milan you have to make a choice. Keep going toward the Interstate 155 bridge over the Mississippi or turn North toward Hickman, KY and take the
ferry. From either the bridge or the
ferry. Make your way to Doniphan, MO and
pick up 160. 160 is a great road full of twisty and hills. It will take you almost all the way across MO. Take 160 around the North side of Banson. STAY NORTH OF BRANSON. Pick up 76 vic of Reeds Spring.
From there take 76 to 112 to F/86 to P which become 23 at the border and takes you to ES.
Hey, its a bit more round about but it avoid the slab.
Yankee Dog (who has ridden all these roads)