There are three very small parking lots. I think they are solely for cars, not tour buses. The first is on the right when passing New leaf Cafe about 1 minute after driving into the park. It has roughly 30 spaces. The second lot is across Margaret Corbin Drive from the museum itself and has roughly 15 spaces, some of which are taken by Museum staff. A third parking area is just around the bend at the North end of Margaret Corbin drive. Where the road splits, take the right and park in one of about 10 spaces overlooking the Hudson River from 20 stories up! I don't know if the first two lots are open to the public.
I don't remember seeing one. I took the train there.
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