Yes PBI is easy to get in and out of , and it's just a short drive up to Vero. As an added bonus, it's a much larger airport than Melbourne, so you'll probably have better flight selection.
Other airports to check are FLL (Ft. Lauderdale) and MIA...both of which are considerably larger (i.e.. more flights) than either Melbourne or PBI. FLL is also quite easy in-and-out, and because of lower landing fees, many discount airlines fly into FLL.
MIA will offer more flights than all of the above combined, but it's rather user-cruel if you don't live here. It's not easy to get in/out, it's very crowded, and when you finally make it onto the highways and byways, you will be in the middle of our traffic. I know the place well and navigate it easily, but I wouldn't recommend it for anyone going to Vero unless flight availability was an issue. If you are flying Frequent Flyer tickets, MIA or MCO may offer a lot more availability than some of the other choices you're looking at.