Some obvious uncreative solutions:
Take an UBER (cost about $300 each way) but very convenient.
Drive and park. I know you said a car service, but unless your cruise is super long so the cost would run high, driving and parking in the garage right next to the cruise terminal a super convenient.
Take a one-way rental car from Hertz in spanish springs and drop it at Hertz in port Canaveral. Some rigamarole involved at both ends, but cheap. Probably only cost $100 or so each way.
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