I have seen video of guys with decoys and calls bring them withing 40 yards for the shot. There is an antelope call out which sound like loud wheez that seems to really work. I think this was one of the Eastmans videos.

If you have two guys you can drive up as close as possible and drop the hunter out the opposite side without stopping for more than a second and then keep driving. The hunter can then set up the decoy and start to approach using the decoy as cover.

Saw video of guys with a cow decoy walk right up to within 50 yards of antelope.

Saw another guy walk out of the morning sun with a camo cover over him blocking his human outline. He walked straight at the antelope and got to within 75 yards. I think this was a Roger Raglin video and he shot it with a muzzleloader.

Setting up a water hole blind doesn't have to take that long. There are several versions you can buy and carry with you.
Antelope water every day sometimes twice.
Normally they will come to water before 10:00 in the morning.
Good luck, sounds like fun.