Hi S,
Thank you so much for visiting the Disney Parks Moms Panel with your question. My daughter has been going to Walt Disney World since she was an infant, and since she has been old enough to talk, she would tell you that Epcot is her favorite park! I absolutely think that Epcot is great for young children.
When she was three years old, some of the attractions that my daughter enjoyed the most at Epcot in Future World were The Seas with Nemo & Friends, Turtle Talk with Crush, and Journey into Imagination with Figment. She even really enjoyed the Living with the Land boat ride. Although some of the narration may have been too advanced for her, she loved floating through the greenhouses. In World Showcase, she loved the Kidcot Fun Stops (and still does at 8 years old!). My husband and I grab a bite to eat at one of the countries in World Showcase, and then enjoy our food and drink while our daughter colors a Duffy Bear or now, Perry the Platypus. I absolutely recommend taking your little one to Epcot!
One factor that might influence your decision on which theme park to visit first is that Epcot is typically open a little later in the evening than Disney's Animal Kingdom. You can check
Disney theme park hours online. Since you are driving on Friday, you might want to visit Epcot that day and save Disney's Animal Kingdom for a day when you can arrive earlier since it will probably closer earlier. Another factor is to try to gauge which park you think your little one is more excited to visit - and then save that one for last.
I hope that these thoughts help, S. Have a wonderful time planning your trip, and please do not hesitate to ask if you have any further questions.