Short answer - No. But at least it's cheaper than NY at $35/day.
Other suggestions - Find a hotel with a park & cruise package, hire a car service (i.e. Super Shuttle) or take public transportation.
Since we live about 1 hour from the pier by driving, we have taken public transportation which will add 1 hour traveling time. But to do this, each person can only have 1 suitcase (we can do 22" for 7 days) and a tote/backpack.