Hi, congrats on the trip! As a Disney Resort guest you will not have to pay to park when going to the theme parks. Also, as a DVC guest, you won't have to pay at the resort either! Win/win!
That being said, if you want to reduce contact risk, I'd just drive. You're not going to notice much in park difference, especially if you're lined up ready to park when they start letting vehicles in.
On our DHS day, we drove and arrived just before 8am and they had us lined up for 15-20 minutes before letting us in. After parking, temp check, scan in, etc. We got a lot done in the morning and had time for more, but decided to slow down and enjoy. In the park, in order, we did Mickey and Minnie railroad, restrooms, Slinky Dog, snack, toy story mania, alien swirling saucers, photopass photos, restrooms in Galaxies Edge, milk stand, walked around Galaxies Edge, rise of the resistance, droid depot, more photos with droids, then sort of hung out til lunch reservation was ready.
Animal kingdom you can also get a lot done first thing in the morning. We decided on eating McDs breakfast in the car before going in, but if you're going during the week, the morning and probably most of the day, will be light on crowds.
Overall, I don't think you lose out driving yourself instead of doing bus. With reduced capacity on buses, if you're not there early, you're not getting on the first bus anyway, so gives you control over when to leave your room, etc.