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Very few cars are capable of accessing a Coral Reef. Assuming you plan to walk or swim . . . According to the Florida Sun Sentinel there are three good So. Fla. snorkling spots reasonably accessible from shore without a boat: Coral Cove Park, on Beach Road in Tequesta (Palm Beach County), Red Reef Park, 1400 No. State Road A-1-A, Boca Raton, and a Section of Beach off Ft. Lauderdale at Commercial Blvd. They caution the last is quite a swimming distance from shore so should be attempted only by strong swimmers and never alone.
Also Red Reef Park, its either north broward county or south palm beach county.