M.F.
From the Royal Palms, on a Saturday morning, it would be an easy drive with a quick hop on the freeway or by taking surface roads. However, I would probably opt for poolside relaxation. We wanted to tour Taliesin last year, but the tours are expensive and very limited in what you actually get to see. One fee to tour part of the grounds only, one to see one or two rooms, etc. All are guided and short. Check out the tours on the website and that should help you decide if the cost/time is worth it to you.