you can park right at waters edge at schoolhouse beach(after you take ferry to island)
Need to take the ferry across.
Can take your car on the ferry and drive on the island. If you wait till closing time to come back to mainland then will be stuck in huge wait line, sometimes couple of hours.
And be prepared to wait in long lines if you go during peak crossing times.
No you have to take the ferry to the island, there's no bridge.
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