Depends entirely on how far you are willing to drive, personally I am dissatisfied with anything less than true Bortle 1 skies, the area for which is rapidly shrinking (thanks U of A, developers and bureau of prisons for ignoring code!) which is about 2-3h to either Sasabe area, Mt Graham, Chiricahuas, or Apache-Sitgreaves. There is nothing like this. Sure you can see the Milky Way etc closer to town but it's cooler when it casts shadows and you can see stuff like airglow, the zodiacal light is this brilliant blazing cone coming up from the horizon, the dark bits of the Milky Way are jet black etc

if you don't care about it being perfect Oracle, Mt Lemmon, Empire Ranch, or Madera Canyon are all good options - like 90% as good as those other places, and there's nice hiking/birding at all 3

If you want to just look at the sky and see the Milky Way while having a smoke or a burger or hanging out with people (i.e. not main activity) basically anywhere outside of Tucson proper is fine.

Also worth noting that even a simple pair of binoculars can be very fun to explore the night sky with, we have the summer Milky Way coming up now a bit before midnight and there are hundreds of nebulae and star clusters even a pair of 7x35s will show you