There are two sets of tracks for the monorail, the Express and the Resorts beams.
The Express trains board and exit at the same side, so you will have to drive on and back off. This does not matter if you start at the TTC or MK.
The Resort Beam will sometimes allow you to exit going forward, depending on where you got on and where you get off. The following sides are refered to when you are facing to the front of the train: Poly & GF, board and exit on the right; CT board and exit on the left; TTC, board left and exit right; MK, Board right and exit left. This means if you are going from the Poly or GF to the Magic Kingdom or CT you exit going forward. If you are going from MK to CT, or from CT to either Poly or GF you also exit forward.
By the way, when you board on the Resort Beam, the person who handles the ramp MUST ask you for your destination. When you get there, if you do not see a person with a ramp have someone from your group make sure the CM knows you have to exit.