As long as they are open for the day. We had a chance to get on three of them. But, there are a lot of things to see there even without having all ships open for viewing.
We were able to go on two. The other two ships were not open to view. Historical buildings that you are able to go inside, there are events a designated times. Example: how sails are made. It was well worth a visit. We stayed 4hrs & didn't see everything. There is an option where you can return within a week.
You can go on any ship available with your ticket price. They have A NYC FD fireboat that was last used 9/11/01 The have a information board in front of Fireboat letting you know the guided tour times. You can only get on boat by doing the tour.
Yes you can walk on two of the ships one is not in Port right now not sure about a fourth.
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