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Uihlein's provides a friendly place to dock for a couple of nights close to the harbor inlet. Henry is very friendly and will help you out any way he can. Good water and electrical hookups. Sound and light from the Viking ships docking overnight next door can be annoying.
Right across the street from bike rental and market makes living without a car easy. Restaurant on site is pretty good and walking distance to many other food and drink options.
High octane fuel at decent prices is an extra plus.