Don't underestimate the size of Animal Kingdom. It's a big park (by far the largest of the 4). By the time you actually make it into the park, chances are you aren't going to want to leave and then go back. I wouldn't even recommend going to RFC at the front of the park. Also, while we like The Mara a lot, there is NO resort counter service worth going out of the way for. AK has quite a few good CS locations as it is.
If you wanted to see AKL, book a dinner ADR for Boma, Sanaa or Jiko.