Unfortunately the other surface option - train - takes much longer, the quickest connection is just over 7 hours and the only direct train (overnight) takes over 9 hours.

Driving to Prague is fine if you have plenty of time and if you use minor roads some of the way (we drove from Frankfurt to Karlovy Vary some years ago, taking all day to get there, and it was great). Driving along the Autobahn to get from A to B just isn't much fun, and it's just not something I would choose to do unless there was a very good reason for it. (I feel the same about UK motorways and French autoroutes and the Dutch and Belgian equivalents BTW!)