As per this post, the shortest distance between $2$ curves is along their common normal. Now, consider the curves $y=\sqrt{16x^2+5x+16}$ and $(x-2)^2+y^2=r^2$ where $r$ is some real constant. It is clear that any common normal between these $2$ curves will pass through $(2,0)$ as the second curve represents a circle with this point as its centre. On taking the limiting situation of $r\to0$, the second curve tends to the point $(2,0)$ but any common normal will still pass through this point.
Hence, the shortest distance between $f(x)=\sqrt{16x^2+5x+16}$ and $(2,0)$ will occur when the normal to $f$ passes through $(2,0)$. Let this normal be drawn to $f$ at the point $(\alpha,\beta)$. Then,
$$\cancel\beta=-(\alpha-2)\frac{2\cancel{\sqrt{16\alpha^2+5\alpha+16}}}{32\alpha+5}$$
$$\implies32\alpha+5=4-2\alpha$$
$$\implies\alpha=\frac{-1}{34}$$
Now, all that remains is some tedious algebraic calculations.