Well it's really not a hassle at all. Both main garages charge $17 per day to park in them and you'd just be paying for a few hours. Unfortunately I don't know the hourly rates but even if you'd pay half that amount, it wouldn't be THAT bad. Parking there days at a time.....now that's expensive.
When you drive into the airport the overhead signs will tell you whether to use the A or B sides for your airline. Use the garage for that side. Park, remember where you parked, and go down the elevator to the underground level and then follow the signs, escalators or elevators back up to the Ticketing level. See your friends off. For the arriiving people it's easiest to meet them at Baggage Claim. Watch for their flight to arrive and see which baggage carousel they will be using and meet them there. If you have cell phones, even easier. On the way out of Baggage Claim take an elevator downstairs (one that is marked for Parking) and reverse the process.
So it's not a hassel and it's not going to kill you expense-wise. If you're a regular here in Florida and have a SunPass or EPASS, enter the parking garage through a lane marked SunPass/EPASS only and when you leave, depart through a similar lane on your far left of the toll booths. There is no ticket going in and no payment going out as it will automatically taken from your account just like a toll. That's even less hassle.
BobK/Orlando