This is a great place to stop. We fueled at the Municipal Marina (with unfortunately a rather unhelpful young man), then picked up a mooring ball at Atlantic Highlands Yacht Club.
This is a huge mooring field, but we were very comfortable on U2 during strong NW winds. The Launch service is stellar, and this is a rare instance where we did not need to put our dinghy in the water.
We were able to stay on the mooring ball a little longer than checkout time as long as we kept our radio on 9 and monitored for the next guest.
The mooring fee is now $55 (Active Captain still shows $50), but well worth it with the shower facilities and the launch service.