Depends a bit on the park. From Encantada you don't have much choice but to head up to Irlo Bronson/192. For most parks the quickest route from there is 429 (toll) to Western Way. If you don't want to pay the toll, then for most parks you would head a little farther East on 192 to World Drive. Traffic on 192 is variable but quite heavy at some times of the day, so the time difference can be a couple of minutes to 15-20 depending on traffic. I personally would pay the toll, but we have a SunPass transponder in our car.
For Animal Kingdom there is a "sneak" up Sherbeth Road from 192 that lands you quite near the entrance to AK parking. That is the preferred route for AK from that area of 192. We own a week at Silver Lake Resort right next to Sherbeth, so it is our route into the parks always.
Google Maps or Waze are both pretty good at picking the best route based on current traffic.