I drive 95 up here in NE....I hate 95 in the Palm Beach and south area!!! But.....it's not too bad between VB and Melbourne. But, if you really don't want to use 95, then 1 to 192 isn't bad. I've done 60-441-192...it was grueling. Or, you could stay on to the Fl Turnpike. Almost as bad as 441-192.
95 to 192 is best, followed by 60 to the Fl Turnpike.