Taipa Ferry Terminal to Macau Ferry Terminal

Any way I can hop on any free hotel shuttle from Taipa ferry terminal to the ferry Terminal?

Booked Sofitel Ponte 16, but they only have shuttle service from ferry terminal, and I am arriving at Taipa ferry terminal.... If there isn't any free hotel shuttle I can hop on, how can I get to Sofitel Ponte 16 from Taipa ferry terminal? How long will the journey take?
Thanks!