No you dont need a reservation . It comes every half hour so just keep up with the time it's never really packed.
No reservations needed. First come, first served. Ferry will hold many vehicles, so there is usually enough room. For more than five years, I have commuted every week from home in Vermont to work in New York, once when there was not room, I had to wait a half hour for the next boat.
They run pretty regularly... If you miss one, it usually only takes about 30-60 min to hit the next one
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