We drove in from NJ for the Golden 9/14 sailing. The Cruise Piers are easy to find, per the directions on their web site, but I would allow a little extra time for traffic. We came up from midtown Manhattan (Lincoln Tunnel) and had to go 'way uptown and turn around because of all the people trying to get to the cruise treminal. We arrived early and the ship left LATE, so we had no problem. You may want to stay in touch with your TA to make sure the ship is leaving on time. Probably it will.
Hope this helps.
It's mentioned in a previous post. A piece of cake, I promise. Have you ever driven in Manhattan? Head uptown and make a left around 47-50th Street. If you end up in the river, you've gone too far.