You should be able to do this, yes. I've done something similar, taking the Skyliner from Epcot after the fireworks to Riviera and then getting a rideshare home from there. I'm not sure it actually saved me any time, but it did save me from having to walk allllll the way from the back to Epcot to the front in the crowds.
Yes, nobody is going to prevent you from walking to the Contemporary, and once there, nobody is going to stop you ordering an Uber or Lyft. Also, our favorite way to get back from Epcot when we finish at World Showcase is to stroll to the Beach Club and take a Lyft from there.
It depends on when you leave. If it's at the end of the night when a lot of other people are leaving, the wait to get to the TTC might be lengthy. I would always choose the walk to Contemporary versus waiting in crowds.
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