Is there a place at or near the pier to launch kayaks and paddle boards easily?

There's a floating dock connected to the pier that you could launch from

Directly across the river from the pier is a full boat launch and bait shop. Or as others stated there is a floating dock attached to the pier but you would have to carry the kayaks.

Yes

At low tide there is plenty of beach to launch from but you will have to carry the kayaks a bit

I think so. You can launch from the floating dock but it would be a challenge getting the kayak there.