Hertz Gold costs $50 a year. It gives you the ability to go right to your car. It also has an awards program where you accumulate points from use and can then use them to apply to merchandise, freguent flyer miles for airlines, other awards. It also provides various coupons and upgrades at many times.
Nevertheless, I do not view Hertz as the ideal choice to escape going to the counter, particularly at Orlando. At Orlando, Hertz is located away from the airport and thus you have to take a shuttle. National, Avis, Dollar, all of which also have programs you can join to escape going to the counter (National's Emerald Club, Avis Preferred, and Dollar Fastlane), are at the airport. Moreover, you can join the Avis and Dollar programs for no annual fee, and, if you are a Disney Club member, you can join National's for no annual fee (otherwise $50 ayear). Also, if you are a Disney Club member, you can get close to 20% off any National rental. Finally, Hertz usally has the highest rental rates of any of the car rental agencies.
In other words, if you have not joined any of these types of programs before and are just looking for one so you can avoid the counter, consider the others I mentioned above rather than Hertz. (Note, I have all the above programs; I do not have to pay the $50 fee for Hertz because I am a member of an organization that can get the Gold card with fee waived.)