We did it and got picked up at our diney hotel!!
We used Gator Tours this past Oct. If you serach google you will find them. (although it looks like their updating their site)
I'm going by memory here as I'm not on my computer with all my old ressie info. But I believe they were about 70 a ticket. And included a ride to and from the space centre being picked up right at your disney hotel.
We were picked up at 8:15 am (this time will depend on which hotel your at and who else there picking up, we were about in the middle of the pick-up schedule) We were taken in a big 55 person bus (air conditioned) And happend to have a very entertaining driver, he told jokes the whole way there and back, and would stop to show us sites and wildlife. He also gave about a 15min talk on the way there on the best way to fit in what you were interested in seeing with the least amount of crowds.
Pick-up from the space centre was at 5. So all in all you had 6-6.5 hours there.
My experience with them was really great, and works well for not having to worry about driving there and back (and getting lost there and back haha)