This was several years ago, but we used a bus service (maybe Mears?). I know we had to call and arrange for a pick-up time at our resort. When we were done at US, we called and they told us what time to be at the bus stop for our return trip. Like I said, this was several years ago so I don't know if they still do this.
One year I contacted Mears and they picked me up and dropped me off at Universal for a fee. To get picked up and returned to WDW, I believe you call them 2-hours before you want to be picked up. Check them online or check the other transporation services. Most will take you to the other theme-parks. Ely
You can either take a cab or get a shuttle company. Don't use one that is going to charge per person as it will get costly very fast. We use a cab depending on distance, needs to be very short. Otherwise when in Orlando we Transfloridian for shuttle service. Just make sure to call and reserve as they can get very busy. They charge for up to 4 people $45 round trip.
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