We took the boat from the MK and it was a nice trip. Pioneer Hall is very close to the boat dock and you don't see much of FW on the way. They want you to arrive early to check in, however, so there's plenty of time to walk around in the area.
You'll probably need to take a different route back to your resort, since the boats stop running at some point. There sometimes are buses direct to some of the resorts right from HDDR, sometimes you need to take an internal FW bus to the Outpost, then another bus to DTD, then a third bus to your resort. Bleh.