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Good island to visit! I spent 25 summers on Nantucket through 2013, now come back every other year for a short visit.
It can be a little intimidating to get a reservation as I suspect anxious boaters snap up every reservation available once booking opens in the spring. When I tried one month in advance, there were no moorings available for a 5 day stay arriving Monday, departing Friday.
I just stayed in touch with the staff, and got myself on a waitlist. Sure enough, a slot opened up about three days before we arrived, and indeed there were plenty of empty moorings around us (not sure if transient moorings, or locally assigned moorings that were not in use.)
On arrival, a work boat met us in the channel, guided us through a crowded mooring field and handed up the lines so that we didn't have to go fishing with a pole.
Launch service runs 8AM-midnight, or you can dinghy in. Fuel and pump out service available on the fuel dock, water service available on the "town" dock.
We elected to check-in to a hotel for 4 days, but sleeping on the mooring would have been fine - amazing views and no noise issues.