The Wal-Mart on the 27 is probably closer to Highlands Reserve than the 192 and there is a publix just opened almost next door.To get to the 27 Wal-Mart simply head south towards Haines City and you can't miss it .It is on the right hand side near Southern Dunes
I'd say turn right out of Highlands Reserve and drive for about 13 or 14 minutes down US 27 and you will see it on your left as you enter Haines City at the traffic lights.
The one on 192 will take at least half an hour's drive during the day. You have to go through about two dozen sets of lights - never mind the traffic!