Do you have to hike to the tower, or are you able to drive? I am disabled enough that a far walk isn't in the cards for me.

It's maybe 500 feet from parking to tower.

Hiking or taking a bicycle as only way

As far as I remember, the top of the tower walk is handicap accessible.

The tower is just a short, easy walk from the top of the parking lot.

The path from the parking lot is sidewalk and about 500 feet.