As is, 39/90/94 isn’t really for local traffic. Too far out, and basically only interchanges with other limited-access roads. As a result, that local traffic is pushed onto Stoughton Rd.
I’m sure if WISDOT could redo things from scratch, they would build 39/90/94 closer to Stoughton Rd’s current alignment than the Interstates’ current alignment. That would eliminate the need for 1) a limited-access Stoughton Rd, and 2) the WI-30 connector freeway. I imagine it being a slightly longer version of I-41 in Green Bay. Separated C/D lanes between close exits, allowing for more interchanges with access to city streets.