You can take the boat right from the dock at the Contemporary to Wilderness Lodge. You may make a trip to the campgrounds first but will eventually get to Wilderness Lodge.
As stated above, you can take a boat directly from the CR to the WL. If you go for dinner just make sure you know when the last boat is so you don't miss it.
It seems to me...that many times I have been on the pier at CR...and the last launch of the night seems to arrive just about the same time as EWP arrives at CR which is about 10PM.
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