Yes, it's a 10 minute or less walk. Exit the lobby and follow the sidewalk to the right. Enter the lobby at Kidani and the staircase down is straight ahead. It's a good restaurant and great views of the savana. Enjoy.
All restaurants at the Disney parks and resorts (excluding Shades of Green, a military/DOD-only resort) are open to everyone, regardless if you're a visitor or a local resident. There are no places to eat restricted to DVC members only. Enjoy.