Jetty Park is a great spot. We watched a satellite launch from there about 5 years ago (Stereo; pair of satellites to study solar outbursts). There's a long fisherman's pier out in the sea at Jetty Park and if you get there early enough you can great probably the best view of the launch pads at Canaveral AFB.
Looking at Wikpedia, it seems they use launch complex 40 these days which is at the north end of the Air Force base. Therefore you might be better parking around the cruise ship terminals in Port Canaveral and watching across the Banana River lagoon. Do some research online beforehand as I recall there being a lot of nice wide verge at the side of the road where you could pull over. I dont think you can get any closer without entering the AFB, which is a real no-no....
Knowing SpaceX it will probably take 3 attempts to launch, but good luck, it's an amazing thing to watch.