Last time I was there, I stayed at the AS Music resort and drove over to AKLodge. I was stopped at the guards gate and explained that I was staying at ASMu and wanted to see AKLodge. No issues what so ever - he told me where to park and I walked right on in.
I didn't tour with anyone -- just walked around on my own.
I have walked around the Yacht and Beach Club resort in the past, too......went to have a snack and Beaches and Cream and walked around.
Hope this helps, and have a GREAT time!!!