On our last trip, we did a Minnie Van after the cruise. It was expensive, but well worth the splurge for us because we only had one post-cruise park day so wanted to make the most of it and get there early.
We had early dining so had breakfast early (6:45), lined up to disembark around 7:25, got our bags and went through customs and were on our Minnie van around 7:50 (I was told they can pick up as early as 7:30, but we didn't want to do express walkoff so we factored in time to get our bags). The Minnie van driver met us as we left the terminal and his van was right outside the door, so it was very quick and easy. Arrived at Yacht Club just around 9am, dropped our bags with bell services, and headed to Epcot just a little after rope drop. It was a fun day
As a general matter, we have done parks before and after the cruise and MUCH preferred after, which I know is contrary to the popular wisdom here. When we did parks before, I was constantly stressed out about getting sick and being denied boarding on the cruise--we get sick a lot after Disney World because of the crowds, buffets, etc. Then, we were super tired, sunburned, and ready to go home before we even got on the cruise. Plus, disembarking from the cruise and heading straight to the airport to wait around for your flight is such a bummer of a way to end a vacation. When we did the parks after, we started our cruise fresh and ready to enjoy vacation, left our cruise relaxed and happy for the parks, and on the day we returned home, we able to enjoy a nice morning at Disney springs before heading to the airport instead of arriving early from the cruise and waiting at the airport for hours.