Is there any ferry service to or near Pier 36 in NY from New Jersey? If so, which is best to get there, and where do boats depart from?

Pier 36 is on the East River not Hudson River. You can take any Hudson Regional ver Ferry and then subway or Uber or taxi

Yes, you can pick up the Seastreak from the Atlantic Highlands in NJ. It's pricey at $100 round trip. The ferry terminal is about a mile from Pier 36. Take a cab or hoof it.

We drove from NJ, don't know about the ferry.

Nope. Beavis has a dingy with a hole in it that he patched up with finishing caulk. Might be your best bet...

Corlears Hook is your closest ferry dock