Hi Erin!
This answer is coming to you straight from Fort Wilderness! Speaking from personal experience today, it takes less than 15 minutes to get to all the parks if you are driving yourself. Of course this depends on traffic. It will take you just about 5 minutes to get to the Magic Kingdom.
I do recommend taking Disney transportation, specifically the ferry boat, to Magic Kingdom as it will take you longer to park, take a tram, then take a monorail or ferry across to the Kingdom itself. The ferry boat from the marina at Fort Wilderness will take you right up to the front gates.
Enjoy your vacation!
Leslie
Visit Walt Disney World Resort to explore the magic.
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