Nala 24:
We have driven both routes you mentioned and prefer 81-66-17-95. We did 77-26 on our way down and 17-66 going back and shaved a whole hour off of our time. I also hated crossing the mountains on 77-26. Having a truck on your tail while coming down a very narrow, mountainous road with no guard rails was really unnerving to me.
For US/IOA just hop on I-4 and follow the signs. Real easy to get to.