Respectfully disagree, although it may be influenced by my urgency to "get going" (andiamo, vamanos, twinde) asap after I disembark.
Kahului Maui pedestrian exit is approx. .5 miles (~12mins) via a serpentine security path to exit the port complex on Kaahumanu Ave opposite the Maui Mall Village.
It's a shorter, not-quite as inconvenient walk from Nawiliwili to Waapa Rd, which is close to the aforementioned resort, and a small strip shopping complex, but not much else.
Hilo wasn't bad but we had friends who lived <1 mile away and we walked out to the Kuhio / Kalanianaole St intersection (~600 ft) so they could pick us up.
No complimentary shuttles in Hawaii (remember the power of the taxi's), although I recall
DCL arranged them at Juneau, and the one at Skagway was $negligent.