if you leave orlando about 10:30 you will not get any traffic at all in either city. the turnpike is really the only way to go the other way is too long. if you want you can switch to i95 in jupiter you will see the signs. yes be careful with the troopers they hide and get you when you least expect it
If you are planning stops at Vero WPB then take I-95 for that portion. You can switch to the T pike at State Rd. 60 west of Vero.
Probably would be better taking the turnpike.