Yes you can, you would drive to the Outpost parking lot and then take a bus to Pioneer Hall where the HDDR is held. You cannot drive all the way to Pioneer Hall.
It's a very short drive, less than 2 miles from OKW entrance.
Take a left out of OKW, a right at the light, then a left at the next light, the Outpost parking lot will be on your right a little over 1/2 mile.
It will definitely be the fastest way to get there and back to OKW.