I'm sure you can find a taxi or limo service willing to transport you, but you will probably find that a rental would be less costly for the 2 hour drive.
I own at Vero and love going there but I think if you are there for more than a couple of days you will want a car to wander off the property. Vero is not a huge resort and there is a lot to do around Vero.
We will have a rental with us. Problem is, some of our party wants to stay at WDW all day until it closes. My DH and I want to drive down around 2 for check-in at 4. I was thinking the stragglers could rent a car to get down there but then where would be drop it off? We could get a car with National at WDW, but then we would have to drop it off at Melbourne Airport.