We sailed on the Fantasy a couple of years ago and did the same thing you are doing. We flew in the night before, took a free hotel shuttle over to HoJos about 5 minutes away, and then took the shuttle back to the airport the next morning. The hotel shuttle dropped us off right next to the Carnival shuttle to the pier and we bought the transfers on-board for a very reasonable price. Fast, reliable, and convenient. There were 6 of us as well and I did a lot of research (ie renting a car, etc.). The Carnival transfers are the way to go when sailing from Port Canaveral.
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