Although there several routes that allow you to avoid the two tolls on 417 or the two tolls on 528, there are not fast, convenient routes for doing so.
The best toll-free option is probably to use the airport's north exit (without getting onto 528) and to have your GPS direct you to WDW by way of Sand Lake Road (482) and Interstate-4.
I don't think the extra time and distance are worth it just to save a couple of bucks.