According to Google Maps it's a 21 mile drive and should take 26min via I4, of course a lot will depend on traffic as I4 can be very congested at rush hours.
The Bob Carr Center is in the downtown area just to the west of I-4 and while parking is plentiful, it is seldom free. It can also be affected by events at the nearby Amway Arena (basketball mostly). It is a relatively safe area to be in at night.