If you want to experience Skyliner, I personally would use it as a mid-day break instead of trying to use it as transportation to a park in the morning. The Skyliner gets busy during the RD time periods. But later, it is pretty much walk-on.
So, when you are either at EP or HS one day, head out of the park and take a Skyliner tour. It would be a nice way to relax. (Then take the Friendship boat on the other end back.)