Pick up/Drop off at WDW

[englishteacha]

We're traveling with another couple and will be sharing a rental car. DH and I want to go to Kennedy Space Center one day, but our friends want to go to WDW. Is there a place where we could drop them off in the morning and then pick them up again later? Would we have to pay the parking fee even though we aren't staying?

Also, just out of curiosity, what is the average cab fare to Kissimmee, if one or the other of us wanted to leave early one day?

Thanks!