About ⅓ or a third of the way, you can stop at Deerfield Beach, FL. This is about 7 minutes north of Pompano Beach.
About ¾ or three fourths of the way, you can stop at Rainbow Homes, FL. This is about 17 minutes north of Pompano Beach, or about 5 minutes southwest of Delray Beach.
If you drive straight through without stopping at all, the total distance is 19 miles. The distances shown above don't include local roads to get into each town, so if you're planning a long road trip, make sure you factor in traffic and road conditions, rest stop breaks, and interesting detours along the way. If you're in a rush, you can do the trip with zero stops, and your total travel time would be around 22 minutes.