You can get from Boca Raton to Disney World without paying tolls. Just take Interstate 95 north to State Road 192 west. I love driving on SR 192. It's a divided 4-lane road that has very little traffic. Eventually, it turns into Irlo Bronson Memorial Hwy in Kissimmee, which is on the south side of Disney World.
Just because I already have it on my server, here's what State Road 192 looks like:
I-95 to SR-192 is roughly the same distance (198 miles) as taking the Turnpike (194 miles). It does generally take 30 to 60 minutes longer due to normal traffic. Traffic tends to be bad in Kissimmee...although it's mostly due to stop lights and not the "at a dead stop on the interstate" that occasionally happens on I-95.
If you're looking to see what Florida used to be like before the high-rises arrived, I recommend making a detour along the Indian River up through the Melbourne area. I think that area is one of the most beautiful in the state. Driving north on State Road A1A, you'll get views like this:
Here's potential detour route from I-95 heading north:
Link to Bing Maps:
https://binged.it/2JCepRv