While the bus is indeed great to Epcot, we have at times driven to the Boardwalk (especially if we knew we'd end there or near the World Showcase entrance to Epcot). Earlier in the day the parking is open, valet parking later. It was also a great way to get to know the Boardwalk area.
There are no buses in the afternoon to the Boardwalk and there is no way to walk directly to Epcot from CBR.