Is your ceiling insulated? If not Ill would start there to reduce heat transference from the sun and to keep heat in during colder months if necessary.
Regarding the door. I would use the foil faced foam. Face the foam towards the outside and provide an air gap between the foil face and the door. This type of install accomplishes two things. It reduces the Florida heat from radiating into the garage and it provides insulation value for cooler or high temps. Although it will have R-value around 6-8 depending on the depth of the air gap and thickness of the foam its better than nothing. Its amazing how much of an impact garage door insulation has on your comfort level in the garage.
I just completed this on my two garage doors and it has made a big difference on the heat that radiated into the garage (faces east) and it is helping to keep the heat in during the winter. I used 4x8 sheets from Lowes. Second picture shows my spacers for air gap.

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