Windsor Palms is a very easy drive to the Parks!
We always use Sherberth Rd, which takes you right past AK. If you are going to AK it is about a 8-10 min. drive. AK is the closest to WP and is where they get the 2 miles from Disney. You will be on Disney property, but the other parks will be further, but you just follow the signs.
I would give directions, but I forget the name of the main st.
You will not have to get on the highway if you use Sherberth Rd.