This is the schedule for January 2025 (busy season) and there are only 3 dates that all 3 terminals are used. There must be one or more cruise lines planning to homeport in Tampa to justify this
If it's terminal 1 (usually Wonder and Allure use that terminal) it's walkable. But if it's terminal 5 or 6, it's several miles so Uber/Lyft will be your best bet
Working with government agencies can take years to come to an agreement. It's probably something they have been working on for a while and just got approved