I do not know what part of South Florida you are from, but yes I-95 is the best way to come - there are signs directing you to Cape Canavera and the port - you have 3 exits to Brevard County - the first one is to 520 - second is to 524 and the third is the one, which is 528, that you will take - it is about 20 miles from the time you get off until you will see the port AFTER passing Merritt Island on Highway 528.
If you run into any problems, you are most welcomed to call the shop at 800-950-4559.
Always
Shirley