Hi Aida!
Each restaurant varies in terms of closing time. It's been my experience that a number of restaurants (and stores) do remain open for a period after the park closes. My best advice is to contact Disney Dining at (407)WDW-DINE for the time you plan to visit, and they'll have the schedules of the restaurants for that given time.
All restaurants are located inside the parks and you do have to navigate inside the grounds to get to them. Also, park admission is required to access the restaurants.
Hope that helps! Have a magical day!
Visit Walt Disney World Resort to explore the magic.
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