Where are you coming from? The train may be best but when I go “back home” this time of year - and I do like to go there - I have parked in the old St James lot behind the church. Not sure if it’s still available for public parking but it’s an easy walk down Federal St from there and you’re right in the middle of it all. Expect to wait for any restaurant seating so maybe check into places first to see what’s available, most of them are pretty good especially the ones on and near Pickering Wharf. I say do it, it’s memorable and your kids will love it. I now live in Plymouth and we have similar problems here in the summer but the vibes are great if you don’t mind the crowds