It's hard to give you an exact route, as Disney Transport is a highly dynamic operation. Routes change all the time.
It really depends on what time you leave the park. Chances are if you leave the park during a busy time (Parade Exit) the bus will be Yacht -> Beach -> Boardwalk. Approx 16 minutes, give or take.
If it's a bit past the parade exit, and the Park Exit rush is over, they might combine all 5 resorts... however of course, if there's no one going to the Dolphin, for example, the driver will skip it.