Check your paperwork and see what it says, mine said I drop off and he picks up, but when we first broke up, he wanted to pick up and drop off, so it wasn't an issue. Later, after we really started working together, it was more of a free for all with phone calls involved "Hey, I'm going to grab her and do such and such, I'll have her back by whatever time" or "Hey, I have to work late then out of town for a few days, can you pick her up and hold onto her until I get back?"
When we first broke up, things were really strained and we were both (I'm ashamed to admit) more concerned with "my time/his time"...once we got past that and thought of it as HER time, things really changed. We do what we do for HER, not ourselves...it's NOT her fault mom and dad didn't stay together...so we started working together for her.
It's been 15 years now and we're better parents apart/together then we could ever have been had we actually stayed together.
Pick your battles, if it seems like a long way to travel, let her stay longer if possible...she's only 3, if she's not in preschool, let her stay with dad longer than the paperwork says, that way the travel time isn't so bad for a short visit.