A previous poster mentioned the Brown Derby option, and I just wanted to add our recent experience. We loved lunch at Brown Derby!!
We spend multiple days at DHS each trip - it's our favorite park. So after the mandatory Pizza Planet lunch (we have 3 boys, they love Pizza Planet) we were looking for another lunch option for our 2nd DHS day. We tried Brown Derby for lunch for the first time and LOVED it. Two of our boys ordered from the kids' menus, one ordered an appetizer as his lunch, and my husband and I shared an appetizer, cobb salad for two and the grapefruit cake. It was great! Kid-friendly, nice atmosphere, great food and really convenient. We have TIW so the price was reasonable. If one is on the dining plan, that's another story entirely.
We also like Mama Melrose for dinner, but have not tried lunch.
On the other hand, I think the walk or boat from DHS to EPCOT is manageable - just depends on how much time OP wants to spend in transit. I would estimate 20 minutes walking and maybe 30 for the boat, depending when you catch it.