I've done it a bunch of times. The last time we did that, I went to get the paperwork done, while dh and the other couple went to get the bags. The baggage claim area is within sight of the car rental area. I was just finishing up my paperwork (about 10 mins total including wait in line) when the others came along with the bags. We just crossed the street, got into our car and drove off...so less than 25 mins after landing!!
The drive to WDW is fairly simple...it does take just under an hour though.