Where on property are you staying? Certain resorts' transportation situations are better than others.
I always recommend using Disney transportation to Magic Kingdom. The buses, boats from MK area resorts, and monorail all drop you off right at the front of the park, whereas if you drive, you must park at the TTC, and then take the monorail, ferry, or bus over. It's a long process that also includes a long walk from the car to the TTC itself.
If you're at a Skyliner resort (as your post somewhat infers), using that for DHS and EPCOT is a good idea. Although lines can be long around rope drop time, they move constantly once the system starts running for the day.
