Take the airport exit to University Parkway, where you will turn right.  Go to the next traffic light, which will be Tamiami Trail.  Turn right again and you're on your way.

There is another shorter route out of the airport to the Tamiami Trail, but it only works for exiting the airport and not returning.  If you look at the map, there is a white line from the airport loop directly over to the trail.  If you find yourself on that exit, fine, that will work too, but you will not be able to return that way.

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