You can arrange with the front desk for a cab or one of the transport services (Mears is one) that will pick up more than one party at WDW in a van or bus to take you.
You can even rent a car for a day. There are a few locations right on site and again, the front desk can help with that. This would be my choice as it will give you the most flexibility. But you do have to pay for parking. Add up the cost of all options and go with your gut after that.