I did a search for that development on Google Maps. Even if they're now connected, going via Hartzog and Western Way would be very out of your way.
My suggestion would be to head east on Funie Steed Road from your development, pass Lake Wilson and then turn left onto Entry Point Blvd. Then *cross* US192 onto Sherberth Road. Sherberth will bring you onto Disney property right by Animal Kingdom Lodge. Turn right at the light and you'll be on Osceola Parkway eastbound. Animal Kingdom is a marked U-turn after you pass the parking toll plaza. Turn left onto World Drive northbound for most other destinations. Downtown Disney is fastest if you go via Victory Way by Pop Century.
Going this route the only exposure you'll have to 192 is waiting for the traffic light to cross it.
Sherberth is how I got on and off property when I stayed at Orange Lake. Most tourists don't know about it, so it was fast and easy. Just make sure to use caution on the curves when you get to the northern end of Sherberth. It's a little winding, and you'll often get Cast Members in a rush to get to or from work... Had to turn around and go back to World Drive to get to 192 because of an accident.
-Rob