It's kinda far from the RPR. You'd have to walk thru city walk, to the parking garage, then cross the street. It would take about 30 minutes of walking to reach the restaurants across from the parking garage, or to walk the other direction over the bridge towards WnW to I-Drive.
If you can rent the car, then do it, even if it means paying the parking fee and gas. The convience of driving anywhere makes up for it.