Hi Dana!
Welcome back to planDisney.
I think it's a great idea to take some time out during your visit to
EPCOT to explore Disney's BoardWalk, and yes, all guests are welcome to visit the BoardWalk with or without a hotel reservation.
The EPCOT parking lots are located at the front entrance to the park. To access
Disney's BoardWalk you'll need to go to the International Gateway entrance at the other side of the park in World Showcase, nestled between the United Kingdom and France pavilions.
On the other side of the International Gateway, you'll be greeted with the
Disney Skyliner station to your right, and Crescent Lake straight ahead. If you go left you'll follow the walking path around to the BoardWalk. If you keep walking straight you'll see Disney's Beach Club Resort and Disney's Yacht Club Resort. The path encircles the lake. You can take the opportunity to explore each resort while you are there, stop by the Quick-Service restaurants for a bite to eat, or keep going until you reach the BoardWalk, where you can sit outside and enjoy something delicious from
BoardWalk Deli, while watching the FriendShip Boats go by. You'll find a lot of choices of eateries,
with something to suit all tastes.
On your way back to EPCOT, I recommend taking a ride on the Disney Skyliner - just a round trip to experience it! It's a smooth, comfortable ride and affords great views above the Resort.
The only way to access the EPCOT parking lots is by the front entrance, so please ensure you are back in the park before closing, so you can make your way to your car.
This
GuideMap of EPCOT, and
interactive map of the EPCOT Resort area (scroll down the page) may help you find your bearings.
Have a lovely day exploring the area!, and please come back if you have any further questions - we are always happy to help you plan your magical vacation to Walt Disney World!
Sue