We were staying at POFQ last week. We used a Minnie Van to go from Epcot to HDDR. Be sure you have the Lyft app on your phone. Some people are reporting having a code pop up in My Disney Experience so that they are able to activate Minnie Van service for their resort. You will use the Lyft app to book a Minnie Van. I didn't have the code pop up in my app. You can stop by bell services at POFQ and they can text you the code to enable Minnie Vans if needed. The Minnie Van will drop you off beside Pioneer Hall. This is such a better option than taking a taxi or Uber and then needing to take the internal bus from the Outpost Depot at Fort Wilderness. (We once took a taxi and nearly missed our HDDR because of having to ride the internal bus forever to get to Pioneer Hall, no kidding.)
If you do not take the Minnie Van, take a bus to MK then take the boat from MK to Fort Wilderness.
We love HDDR! I hope you have a great vacation!