Yes, actually I did get on at Boardwalk. I went from HS to Swan/Dolphin, then later went from Boardwalk to either HS or Epcot (I don't remember which day that was).
Beware if it's hot though. The boats are brutal. Unless you're sitting in the back where you're outside, there's little to no breeze inside the boat and they don't have A/C
We took it to HS from Epcot in March and agreed we would never take it again when it's hot out
They actually do have AC,they just don't work that great especially with it being 100 degrees outside and that the boat is not totally closed.The boats are actually a better option than walking during the hot months since they can be a tiny bit cool.Walking between the parks is not a good idea,you will melt.Maybe it's doable if you do a pit stop for a beer at the Big River Grille at the Boardwalk.If none of the above work for you take the bus,they're usually plenty cold even in the summer.
At the resorts there are 2 separate lines to board the Friendship boat - one line is for the boat heading towards Epcot and the other is for the boat headed towards DHS.
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