So I am helping take a 5'7" draft sailbot to coconut grove from Vero on the inside ,but looking at the chart it looks like you just follow the ICW until get there........An old chart it is,but it looks like skinny water when you get out of the waterway to the mooring fields.
5'7'' should not be a problem IF you keep to the entry channel.........don't wander out of it! More importantly, what is your air draft (mast height above waterline)? The julia Tuttle Bridge in Miami is a 56' clearance at MHW.
Do not go where the path may lead.........
go instead where there is no path........
and leave a trail.
Ralph Waldo Emerson