We returned from Hualalai late last night.

There is only a $20.00 charge if you valet park the car. There really is no necessity to valet.

We did rent a car but a case of food poisoning I contracted the day before we arrived (on another island) meant that we pretty much stayed put.
One thing we did do was to visit a few of the beaches that were close by. Had it not been for that, we wouldn't have ventured off property.
The resort is very self contained and the food excellent in the restaurants. It's quite easy to be happy at Hualalai for 5 nights.