yes! all dvc members get free vallet service and i am sure that it would be at both buildings since there are dvc rooms in both buildings.
when you ck out look at you bill and be sure you were not charged for vallet. sometimes they accidentally charge but will gladly remove the crg when you ask them to. they just want to verify that you are members.
you also get free vallet at all resorts when you have dinner reservations. that is really very special.
Since you will be able to park your vehicle relatively close to your villa at Kidani Village, they might not even have valet parking. But Jambo House should still have it.