If you're looking for a meeting place or a good stop around ½ or halfway between Richfield and Eagan, you can try Nicols, MN, which is about 10 minutes southeast of Richfield, or about 9 minutes northwest of Eagan.
About ⅔ or two thirds of the way, you can stop at Cedar Grove, MN. This is about 13 minutes southeast of Richfield, or about 6 minutes west of Eagan.
If you drive straight through without stopping at all, the total distance is 11 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 19 minutes.