Rent a car! It is a very easy drive on a never -busy (almost empty) highway. I hate to drive, but do not mind this one.
My in-laws live in Sanford, so we have driven that route to the port or Cocoa Beach often.
As Woody says, have quarters handy. Or, sometimes with a rental car you can get a "fast pass" so you can just zip through the toll places without stopping. Even when it costs a dollar or so extra, we like this option.