Back in 2016, I took a cab from Yacht Club to the Contemporary walkway. The cab took me to the entrance of the parking lot and let me out there, outside the guard gate, right next to the walkway. It was very close to where you cross at the light and walk directly under the monorail. It was easy peasy from there.
It's been awhile and I don't remember if there's more than one parking lot entrance, so you'd want that one.
I don't know if they're still letting people do that but it worked great. If the car service needs to go through the gate to turn around, tell the guard you're going to walk to MK and get out on the outside of the gate, before the car goes through.