If you plan to park hop to Epcot after going to MK, then you can drive and park at Epcot. Take the tram (or walk) to the front but instead of going into the park, go up and take the monorail direct to TTC and there transfer to the monorail going to MK. After MK, reverse the procedure and take the monorail back to Epcot. At the end of the evening, your car is already there.
The nice thing here is that at Epcot often you can get back to your car very quickly. It's a long walk to the bus pickup area at Epcot. Also, if you stay till park closing, the lines at the bus stop can get pretty long.