The Skyliner does not serve the Yacht and Beach Club. It serves the Caribbean Beach/Riviera Resorts with connection to Pop/Art of Animation.
Yacht and Beach Club is a short walk (or boat ride) from Epcot and Hollywood Studios. You could have breakfast, then take a walk to either HS or Epcot and take a ride to the Caribbean Beach (and onwards to Pop/AoA) and back. Parking limit is not enforced… it’s been many years since Disney placed placards on cards identifying them as resort guests (with check-out date), restaurant reservation, etc.