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We are familiar with Bristol Harbor. It's a great little town with shops to explore and restaurants to enjoy. They previously had a few first come/first serve dock spots (and maybe moorings, but we've never taken one here)...and were transient only I believe (no overnights).. It is also an open (unprotected) harbor and can be choppy at times.
The town came together to build a Maritime center which includes several transient slips contained within a solid buffering dock that knocks down most if not all of the chop and thus makes overnights ok! We just spent our first night. It was great! Located right in the center of a great little town which is the home of the oldest 4th of July Parade in the USA. Lots of local history... and did I mention the restaurants to explore. And the price is quite reasonable! We can't wait to go with our boat friends to explore more!