All depends on where you are going and what time of the day. Also depends on what you are used to. They were working on the I294 bypass when I was there and that caused problems but it was finally completed a couple years back. Overall I would say it is about average for a city of that size, nothing horrible, but nothing to write home about. My wife and I been out of the country the last couple years and we are hoping to head back there over christmas to hit up some the old bars and restaurants that we miss.
The suburbs of Baysore, Whitefish Bay, Cedarburg are all very nice.