Living in NY for years with an RV anywhere from 24 ft - 38 ft take it from me don't even think about driving anything larger than a very short C or B class into NY. If it can't be parked in an underground lot at the pier it's not happening. Again not knowing what size your unit is I'm going to let you know where we camped. Croton Point Park is a Westchester County park located in Croton, NY with full hookupssites, but only 30amp service. You could park there take your tow car down the hill or call a cab to take you to the Metro North Train which is literally down the hill right outside of the park. Take the train downtown to 33rd Penn Station and another cab to pier. Just a thought.