where is the parking for the ship and the museum that is not restricted?

Nautica Garage 88 Constitution Road is the closest - although public transportation or Uber is way easier.

I found street parking easily about a block away.

Across the street (Constitution Rd.) There is a parking garage. Very short walk from there to the ship and museum.

Parking is free on weekends. You can find some parking around as well

There's plenty of street parking. You have to pay for it but it's convenient enough

From Chelsea st, turn onto Constitution Rd and there is a parking garage. Just southwest of the Constitution.