Begin your journey by private vehicle from Mumbai in the morning and reach Shirdi by afternoon or evening. Check in to the hotel. You can either do the darshan late evening, or early morning (or both!) as per your choice. Stay overnight at the hotel.
Check out of the hotel and Visit Sai Baba samadhi mandir, shri Dwarkamai Temple, Sai Heritage Village, Shani Shingnapur Temple, and drop mumbai.