I booked this cruise last minute with my sister just to get away for a bit. We drove 2 hours and parked at the terminal. It's surprisingly easy to do. We brought our luggage down to check it in..coming home we had a very nice porter take our bags up to the parking lot. We tipped him $2 per bag. Customs is so much quicker with a porter.
I have done this ship and itinerary in the past and always enjoyed it. We stayed in cabin 8026, which has an enclosed, or hull balcony. It didn't bother us one bit that it was enclosed. Our cabin steward, Erwin, was a pleasure and kept our towels clean and beds made.
We did not get off the ship at any port, so I have no experience to share.