Might be helpful to use something like Stellarium or TheSky to pin point optimal times of the year for when the Milky Way is well placed in the sky at reasonable hours. The location can be entered as well as local horizon to fine tune viewing times, angles and locations, etc.
You need to stay more than one day. There are sites on the outskirts of town,so if you are coming from Phoenix.go through town and there is this mountain valley overlook which is practically sacred. Then watch the sun set. On the incoming rout in the east side of the road just walk or drive as far as possible( about a mile) into the hills and be awed.