Cancun airport can I walk departure-arrival?

I am staying at an all inclusive resort in PDC and tomorrow I am not taking my vacation package flight home and going to Isla mejures. I am taking the resort/airline shuttle to cancun airport because is it free and a taxi would be very expensive. Apparently taxis and shuttles cannot legally pick me up from the departures section. Am I able to walk to the arrivals sections from departures? Inside or outside the airport?

Thanks for your help.