We visited the Ron Jon Surf Shop in Cocoa Beach, Florida. We parked in their lot and did the required tourist T-shirt purchase. Purchasing something gave us free parking at the store. Ron Jon is right by the beach, so we crossed the little side road and let Daughter hit the ocean for the first time. (Which she admitted looked just like Lake Michigan.) We had spent the morning at the zoo and were not sure if we would have time to swim. So Daughter got a toe dip only that day and walking from the lot worked great for the few minutes we were there.
Tourist shopping, free parking and a first toe dip in the ocean.
Ron Jon Surf Shop is open 24 hours. http://www.ronjonsurfshop.com/location/detail.aspx?LocationId=7
The store is just up A1A/ North Atlantic from the Port Canaveral Cruise Port. Maybe a 10 minute drive.