Our DVC home resort is the Beach CLub, as all the above posters have stated their are few differences as stated above. We really love the Beach Club, inmy opinionit is muchmore kid friendly. The Yacht seems a little more upscale even in the pool area, it seems more kids and stuff on the Beach side. Maybe because thats where the waterslide is, it just seems that way to us. We have eaten over at the Yacht and it was good, but we prefer Cape may and Peaches and Cream.
As far as the walk is concerned, its not a factor really at all, unless you have some issue where walking may be in an issue. It may save a minute or two either way deciding at where your going to the launch or Epcot.
As far as the parking goes we always valet if we have a rental, but as DVC members we don't have to pay, but I can see how the self park lot can be far for the non DVC villas. Its a little closer for the DVC villas as you can park pretty much park right next to the building so its not that bad.