I was put off by the message

❗  Because you are using a Docker driver on windows, the terminal needs to be open to run it.

and I ended up here in Stack Overflow. But because I had gotten that message after running the command

minikube service <serviceName> -n <namespace> --url

I was done. The port given was not the port I had specified, but the url that showed worked. All I needed to do was leave that terminal open and copy and paste the url into my browser. The explanation in the minikube documentation helped me understand the situation better.

I recognize that this won't be particularly helpful to the savvy folks, but it would have helped me at the time so I submit it for any other complete noobs like me.