One of my fondest experiences years ago was having the last reservation at a restaurant in EPCOT.
We left, walking thru EPCOT, not seeing another soul. I have a very nice picture of spaceship earth from the back, placing my camera on top of a garbage can to get the low light shot.
The monorail was closed, but the buses were still running, and that was probably two hours after park closing.
A few years ago, we had dinner at Rainforest Cafe at AK. We arrived at the restaurant about 10 mins prior to the park closing. We ate a nice leisurely meal and walked out around 8:30-9ish. There were buses sitting right there, almost next to the restaurant!! We had a bus to ourselves as we headed back to AKL-Kidani!!
You will not be stranded in a park.