We rented from Hertz in advance, picked up the car right at the end of the pier. Easy, easy driving, bit hilly and narrow in spots, don't try to drive Front Street in Phillipsburg, park in the pay lot inland and walk to shop. Bring your copy of the rental agreement to prove the price, we had a bit of a problem with that. We had a van with no air conditioning vents in the back which just about roasted out the kids, so check.
Carla