There aren't a whole lot of options in Waunakee as far as no-appointment oil changes go. Been here a couple of times and I thought they did just fine. I didn't have a problem with the sales pitch - just politely say "no thanks" to the extras and they aren't pushy.
Nothing fancy, but there's rarely a long wait and I thought the price is reasonable for Waunakee. Yeah, the waiting area isn't exotic, but I don't hang out there; instead I walk across the street to McDonalds or Burger King and grab a coffee and come back.