Yes. It’s on the top level of the Jurassic parking garage. You will go down the escalators to security, and then proceed either into CityWalk (for the two theme parks) or down to the bottom level (for Volcano Bay).
The better option IMO would be to get dropped off at Hard Rock then walk over from there. It's closer and you will go through a typically much shorter security wait along the garden path just before entering city walk from HRH's direction as opposed to going through the major city walk entrance from the parking garage.