Well yes and no. Technically speaking, direct from the website:
Day Guests
Complimentary standard self-parking is available while enjoying select dining, shopping, entertainment, and recreation experiences at Disney Resort hotels.
What I always took that to mean (and been told at resorts) is that it is fully up to the gate attendant to determine what qualifies (with likely some guidance from the GM). I personally have had no issues parking at resorts to pick up a quick gift in a gift shop or eat at a QS, always have asked the parking attendant if that was allowed since the policy does allow (if I'm told no I understand). I've also parked at BW to eat (with ADRs) but have not always had my magicband scanned. I think they limit what "select" means based on the availability of parking that day. I will say that they do request you leave the lot within 3 hours (might be 4 I always forget) when you park to explore/shop/eat a resort.