Yes, you can and it's about SUPER SIMPLE! WAAAAAAAAAAAAAAAAAAAAAAAAY easier than the bus...
On the boat they have a little ramp and to drive right up, we do it all the time. We also use Walker and they are so good. Prompt, acurate, professional. We had one only once that didn't drive just so when we got to the park. We called from the cell phone and sat on the nearest bench for a few minutes and they were suddenly there to replace it pronto!