Not unless you decide to pay for valet parking because you want to leave the car after your meal and go to a nearby park. Which, btw, is okay to do when you’d like your car closer to the gate than the regular lots. You can also move it to another near-park resort with valet parking that day if you’ve an ADR and not be charged again. Tipping is customary, though.
There is a 3-hour limit with an ADR which can get your car towed if it’s left for longer. That’s especially true for the resorts close to a park, probably not so risky at others.