Yes, unfortunately, there is only one way to deal with a warrant and that's to go back to Florida, face the judge who issued it, and be present to deal with your case. The judge will probably not call and inform anyone of your whereabouts, but this warrant does show on your criminal history, and you're at risk daily until it's taken care of.
If the warrant is a misdemeanor warrant, and it is discovered, say, in a routine traffic stop, all that will be likely to happen is that the police officer will tell you that you'd better get back to Florida and get it taken care of. If, however, it is a felony warrant, you can be incarcerated and held for extradition no matter where in the country you're picked up. You've been through this once already.
Your best bet is not to write to the judge asking for leniency before you come back, because that letter would make an admission of your guilt. If the judge isn't lenient, you'll have hurt yourself. Your best bet is to contact a Florida lawyer and let him pave the way for as safe a return as are possible under all the circumstances he finds. It may well be that after all of this time, the state can no longer come up with its witnesses and cannot prosecute this case any more. Then the matter would have to be dismissed and the lawyer may be able to take care of that without your even having to come down.