Yeah just don't get on the monorail,get on the DHS bus from wherever you were at in the MK area (TTC,Poly,CR or GF,I don't think MK has the bus to DHS yet but they're getting it soon)From DHS there is a walking path to the boardwalk where you don't enter a park.You could also take the boat from DHS to the Boardwalk if you want to avoid walking which would be about a 10-15 minute walk.