If we are just going to Vero and not to WDW -- we fly into Melbourne. Just did this last month and it was great. We are fortunate that the Delta schedules were very good for us. Cost was about $30 more per ticket than MCO, but it was worth it for us to have the shorter drive (about 45 miles) and a saner airport.
We looked at PBI, but there the flight schedules were very bad for us (one flight per day).