ohpp,
My R31 is located in Fort Myers Beach, so I'm familiar with that area on the Florida southwest coast. There are several marinas or public launches in Fort Myers or Fort Myers Beach where you can launch from a trailer or have your boat lifted from the trailer into the water:
1. Salty Sam's Marina, Fort Myers Beach. It has a trailer launch ramp, which I have used for my previous R27 and my current R31 (when delivered).
2. Moss Marine, Fort Myers Beach. I know of several Ranger Tugs (R25, R25SC, and R27) that have been launched there from a trailer using their fork lift.
3. Punta Rassa Boat Ramp, Fort Myers. A public trailer launch ramp at the start of the bridge that goes to Sanibel Island from Fort Myers.
There are other nearby marinas where you can launch, but I can't personally give details about them.
All these launch sites are in a great location at/near the mouth of the Caloosahatchee River that goes to Lake Okeechobee and onto the east coast via the ICW, where you can proceed either north or south on the east coast of Florida via the Atlantic ICW.
You can also easily follow the Gulf ICW north from Fort Myers Beach to Port Charlotte, Cape Haze, Inglewood, Sarasota, Tampa, and up to Tarpon Springs. Or you can go south along the coast in The Gulf to Naples and Marco Island. For a more adventurous trip, you can continue on to The Keys.
Send me a PM to discuss this further if you would like more details.