We also did this twice last week. The valet guys also knew what we had planned for the day. My family members that came in about 15 minutes before us had a lady at the gate, we had a guy, and she refused to let them in when they told them they were there to valet park. She even told them that that she had been working there for 30 years and that it was never allowed. They tried to explain that they were not going to use the free parking but wanted to pay for valet. No dice...she rudely told them they needed to turn around and head for the MK parking lot. This was around 7:00 a.m. That is why I just wanted to pass that warning along. We have entered many resort parking lots to explore the resorts and have never had any problems. The night we got in, we parked at the Contemporary around 8 or 9 p.m. Told the guard at the gate that we were parking there to ride the monorail to MK to trade our paper tickets for new tickets so we would be ready for our park day in the morning. No problem. He lets right in after checking DH's ID. I think the only times this would be a problem is during super busy times when parking at the resorts can become a problem. And if that is the case, all that happens is you have to turn around and leave.
wow what a night and day experience for your family.. For that lady to say all that to them is crazy.. goes to show how everyone's experience with literally everything at Disney is all over the place. What a bummer for them.
Honestly we weren't sure if we were breaking one of the many Disney laws or not.. but when we inquired with both the gate guy and Valet guy, they both responded with absolutely no problem as long as paying.. I should mention that on another night we were there for the Pirate and Pal cruise, and it took FOREVER to find a parking spot.. So I do imagine they get alot of people going there to park for free when going to the MK, which I agree isn't cool.