My ILs have a timeshare in Cocoa Beach and whenever we are staying there and drive into Orlando, we always take the Beeline Express. It's a toll road, but not very expensive. Maybe a couple of bucks each way. I just checked the map and the Beeline Express is SR 528. SR 528 takes you right to MCO. We've also taken US 192 to the Space Coast. It's a little longer, as it goes southeast through Kissimmee and St. Cloud, but it's a prettier drive, IMO. It takes you to Melbourne, rather than to Cocoa Beach.
I love the Space Coast. Any of the beaches on the Space Coast would be great for a couple of days away from WDW. If you have a couple of hours, check out the Merritt Island National Wildlife Preserve. It really makes you feel like you are a million miles away from touristy Florida, when in truth, you are just a few miles away from Titusville (also on the Space Coast).