Cape Marina at Canaveral will allow you to DIY.
Harbortown Marina will not, and I don't think the other marinas in the Port will either.
I was on the hard at Cape Marina early this year for about 5 weeks to do a lot of painting, and I found the folks there to be nice. They do have a funny pricing policy intended to get you out of the yard quickly (it rises over time).
If you need to live aboard while on the hard, Cape Marina allows you to do so.