Self-driving from Poly to AKL will take about 10-15 minutes, depending on traffic. Simply follow Seven Seas Drive to the end and make a left onto Floridian Way. This will take you past the MK lot, the Speedway, and the Car Care Center, and merge onto World Drive.
Follow World Drive about 2 miles to Osceola Parkway, westbound. Osceola Pkwy passes Blizzard Beach and Animal Kingdom, and dead-ends at AKL.
It may take you 5-10 minutes to get from your room at Poly to the parking lot. Total drive time will be less than 15 minutes. I always self-park at AKL, and it takes less than 5 minutes to park and walk into Boma. When you enter the lobby, bear right and go down the stairs to the lower level; there will be signs directing you to Boma's podium.
If your ADR is at 9:30, leave your room at Poly at 8:30. This will get you there in plenty of time to check in early and maybe even see a little of the AKL lobby before you get called in for your seating time.