I would leave WDW no later than 5pm to allow for refueling the rental car and the 20-25 minute drive to the airport. If you have checked your bags and have your boarding passes by checking in with RAC at your resort, (recommended) you can proceed directly to security after returning the rental car. If not allow an additional 15-20 minutes to check in at the airport.
I travel to the airport via RT 417, I leave WDW on RT 536, stop at the Hess station for gas, before entering 417 just after the gas station. Proceed on 417 to exit 17 (Boggy Creek Rd-Int'l Airport) turn left at bottom of exit ramp and follows signs to the appropriate terminal and rental car return, everything is well marked.