Hi Susan!
Thank you for bringing your question to the Disney Parks Moms Panel!
Disney's Boardwalk area is my family's very favorite and where we stay on almost every trip. The proximity to the two theme parks is the best part!
If you want to walk to the
monorail station in the
Epcot parking lot, you would need to enter Epcot through the International Gateway (located in the back of the park, near the Boardwalk) and then exit through the front gates. Since you don't want to enter Epcot, it's very easy to take the bus from
Disney's Yacht Club Resort to Disney's Magic Kingdom. If you still want a monorail experience, you can ride the resort monorail loop during your visit to Magic Kingdom. It's always fun to hop off and visit those resorts. They're beautiful and all so unique.
You can definitely take the Friendship ferryboats from the Yacht Club to Disney's Hollywood Studios without entering any parks. The loop runs between Epcot, Beach & Yacht Club Resorts, Boardwalk Inn, the Swan and Dolphin Resorts and Hollywood Studios.
I hope this helps! Please let me know if you have any other questions.
~Lori