Is there a drop off/pick up parking area? A place I can park for like 2 minutes to pick up friend.

Yes there is a place to park for drop off's and pickups ..

Not really. You can pull up up front, but there isn't much parking that I have seen.

I had taken the A train from Brooklyn to 42nd St n walk straight to Greyhound

None

Not at all should always travel with another person that can sit & move your car...

Yes..

In New York, the ideal area would be on the 9th Avenue access point or probably on the 41st street close by. 8th Avenue and 42nd street areas are too busy!