The Best Western St Lucie will fit your needs. Exit 129 off I-95. It's one exit south of the Flying J Truckstop. If you ask them nice they will let you park your bike under the canopy.
Most BW Hotels are biker friendly. Holiday Inns are too!
Captain Hirams in Sebastian. Waterfront on the intracoastal waterway...nice hotel...decent restaurant...good outside bar...just a few blocks north of Earl's Hideaway (biker bar).