As someone with an ASD, I certainly see a benefit to it - sometimes you have to do things that are hard and difficult and uncomfortable for you in order to reap the benefits of getting through it. In this case, it sounds like the OP's daughter quite enjoys the destination just hates the trip. The more she challenges herself (and successfully faces the challenges), the more she'll be willing to do them in the future, and the more open her options will be.
I have begged not to do many uncomfortable things in my life, particularly when I was a child and still building up my bag of tricks for dealing with various stimuli. I begged not to have to go to sporting events (sometimes I was allowed to stay home, but often I was told I had to go but could wear earplugs/bring a book/sit in the middle of the family/walk around with a parent). I begged not to have to ride the school bus (no luck on this one). I begged not to have to go to the doctor with the funny-smelling rooms and uncomfortable chairs and needles waiting for me (again, no luck here). I begged not to have to go to my sister's various functions (we made a deal that if she had to come to mine, I had to go to hers, but if she had the ability to stay home for mine that I could stay home for hers).
Just because a part of the journey is a challenge does not mean the entire trip will be miserable, and it does not mean that the challenge cannot be lessened over time by repeated exposure and learning new coping mechanisms. If you only ever do what is comfortable, then you never grow and adapt. That goes for the average population as well as those with unique challenges.
