I would board the first bus at POR that's going to Epcot, DHS, or Animal Kingdom. There's no reason to wait only for an Animal Kingdom bus. The bus service from Animal Kingdom to AKL is no better or more frequent than from Epcot or DHS, so it doesn't matter at which of these three parks you connect. (They're all located between POR and AKL.)
Then board an AKL bus at the park and exit at the Kidani Village stop.
Going back, do essentially the same thing in reverse.
Magic Kingdom is significantly out of the way. Disney Springs (Downtown Disney) bus service tends to be less frequent and less reliable.
If it's after one or more of the parks have closed, keep that in mind. If all the parks have closed, you'll normally have to connect at Disney Springs (Downtown Disney).