Arrive early for dinner, I'd say 5:15-5:30. With an AR, they will seat you just as if you were on time, not early(unless you are really, really early). You will still have to wait for a table, but you will most likely be seated before 6:00.
When you are almost done with dinner you can decide how much time you have.
In my opinion you have two choices:
1. If you have plenty of time (45min or more), walk to MK, and take the bus to YC/BC
2. If you have less than 45min, take a taxi. It's not too much $$, and saves peace of mind
Any other option will take too long, or too much walking