The UberX/Lyft pickup from the garage is not as bad as people say, IMO. Maybe it's a 5 minute walk at most, with the longest bit on a moving walkway, plus an elevator ride. I am not sure how hard it is for your companion to walk, but it might not be too bad.
If you want the curbside pickup or baggage claim pickup--understandable if you're still worried about too much walking--consider GroundLink, Blacklane, or similar? I just spot checked your route with GroundLink and they are asking $69, less than UberX and less than your hotel option.
For the return, just use UberX/Lyft. They will drop you off right at checkin.