I just stayed at the Paradise Pier Hotel and did the self parking and was suprised at how close the self parking garage is to the hotel. Does anyone know if the self parking for the Grand and Disneyland Hotel are close to the hotel or is it a long walk?

Not really far but it is across the street for the DGCH is next to the Paradise Pier Hotel. DLH's is in front to the right as you approach the porte-cochete just pass the guard shack.

At the DLH there is an escalator on the south end of the parking lot that brings you to the entrance of Goofy's Kitchen. Very easy to get to the towers or check in. There is also an elevator on the north end of the lot that will brings you to the front of the hotel.