B.,
First, I agree with you skipping Universal. It is a fun park, but most of the rides are thrill rides and to be honest, even before my son, it was too much for me in one day!
As for food, the Magic Kingdom has some really great quick service restaurants to eat at. I know people with small ones enjoy the Crystal Palace because of the character dining, but we have always just done quick service there because it is more convenient (we are headed there for my 22nd time this year, so we have things pretty figured out). My favorite places at Magic Kingdom are: Columbia Harbour House, Pecos Bill Tall Tale Inn and Cafe, and The Pinnochio Village Haus. They offer basic American food (burgers, pizza, chicken, salads, etc.) and are always open (some of the restaurants that you see on the website are not open year round...we found that out the hard way.)
Animal Kingdom also has some great quick service meals. We did a character breakfast there, but were not terribly impressed with the food, so we won't be going back. I have heard that the sit-down Yak and Yeti is amazing if you like Asian food, but have never done the sit-down version there. As for quick service, we like: Yak & Yeti Local Foods and Flame Tree Barbecue the best. Animal Kingdom is insanely hot (there never seems to be a breeze) and it closes early, so my guess is that you will probably do lunch there.
Hollywood Studios has fairly good and fun restaurants all around. The 50's Prime Time Cafe and Sci-Fi are excellent. Of the two, I would go for Sci-Fi though because you get to eat your meal in an old "car" and watch old movies on a screen. The food is fairly decent, but the atmosphere is too fun! We have also eaten at the Hollywood and Vine, but again, won't be going back. Most of the food at Disney is quite good, and this one was just sub-par. As for quick service, our favorites were: Studios Catering Co., Backlot Express, and ABC Commissary.
Epcot is BY FAR the BEST place to eat! If I had my druthers, we would eat every meal at Epcot! Our family's absolute favorite is Le Cellier steakhouse in Canada. Book this early, because it is impossible to get into if you don't book it right at the 180 day mark. Other favorites are France, Japan (it's hibachi style), Mexico, Morocco, and the Coral Reef Restaurant (the food isn't as good there, but you are basically sitting in an aquarium, which helps make up for it). As for quick service, we LOVE the Sunshine Season Food Fair. It is quick and has everything from burgers to asian!
Okay, for non-Disney things. Medieval Times is SO cool, so good choice there. Our family prefers gulf coast beaches (they are generally nicer and they are warmer and calmer). I don't know that it would be worth driving to the space shuttle. We did it one time, and we weren't terribly impressed, but you know your family. If you like that kind of thing, then it may be worth the trip. Hope this helps, and have fun!