My dad can walk, maybe a block before he complains and needs to sit down. My mom has no problems walking especially if it is for shopping.
However, my dad is usually on a wheelchair boarding and deplaning because the rush of people tends to make him lose balance.
I've stayed at IC Yokohama Grand. I really like the place - I like the breakfast and the view. I find it convenient being close to some attractions. I believe the mall to Minatomirai station has some nice small restos as you enter the main hall.
So, from all the comments above, seems like mixed reviews...
I also wonder about the other Yokohama IC... they are usually very pricey but seems to be reasonable on the dates that I am looking at.