There are two routes.
Pune - Chakan - Sangamner - Talegaon - Shirdi [ 183 km]
Pune - Shirur - Ahmednagar- Shirdi [ 200 km]
Here is online interactive Map between Pune and Shirdi
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If you are planning visit to Shirdi then probably you can visit Shani Shinganapur as well. Here is the road map for Shani Shinganapur