Texas Hwy 19 and 31

Heading to McAllen in a couple of weeks via Waco and San Antonio from West Tennessee on I-30.  Would like to bypass DFW area.  Wondering if Hwy 19 from Sulphur Springs to Athens, then Hwy 31 to Waco is a viable route .  We have a Jayco Seneca Super C.  60' total length with toad. TIA and Happy New Year!!