Regarding GFCI, you need that protection for an outdoor outlet. And Its prudent to put GFCI protection on a garbage disposal switch, something you might touch with wet hands. You can do either a breaker or outlet but it boils down to a matter of convenience. If/when the gfci trips, do you want to go to the panel or reach over to the gfci outlet to reset the trip?
Regarding sharing a circuit, what do manufacturer's instructions say about the disposal regarding wiring to dedicated circuit?
Disposal hard wired or uses a plug? Code says when using hard wired appliances, you cannot exceed 80% of the circuit rating. If the circuit is also wired to loads that can be plugged in/out (e.g. a receptacle) then this factor shrinks to 50%.
Ultimately, your local code and inspector are what sets the rules.