If you don't have a wheelchair with you, you might actually be better off parking in the regular parking lot and taking the tram. Trams pick you up from the parking area and also drop you right near the turnstiles at each park. The CMs do save spots on the ends of rows for people with mobility problems. That way, you are close to the tram spot. Just tell the first CM (and each one after) that you have problems walking, but don't have a wheelchair and ask to park close to the tram stop.
Also, if you are on site, the buses at MK are a better way to go. It lets you off anf picks up right at the turnstiles. The Epcot and AK buses let you off about the same distance as using handicapped parking.