Hello Blair from IA...I am Anne from IA!
After this brutal winter, I am sure you are ready to see the Florida sun.
Beaches & Cream Soda Shop is a great way to end a day at Epcot. While all their food is delicious, I am a big fan of their malts and milkshakes.
Epcot typically closes at 9:00 pm except on days when they have Extra Magic Hours in the evening. Then, the closing time is usually 11:00 pm. Either way, you would be very hard pressed to get back in the park to walk through to the parking lot after enjoying Beaches & Cream Soda Shop.
My recommendation is to go ahead and get your car before your reservation and drive to
Disney's Beach Club Resort and park there. Just let the security Cast Member at the gate know that you have dining reservations and you will be able to park there at no cost.
I hope this helps with your planning. If you have more questions, don't hesitate to ask.
See ya real soon,
Anne