Yes, there are various parking garages, some with shuttles, available at Port Canaveral.
If you call Village Airport Van and tell them you need round trip shuttle to Port Canaveral, they will refer you to one of their drivers (who has several backups in case he's out of town) who will take you in a small shuttle van. The cost was less than double the charge to Orlando Airport, and it was for everybody in the van, not per person. So quite reasonable, and takes you right to the cruise ship. We have used this service twice recently, and have high level of confidence with them.
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