We're planning to visit Boothbay Harbor for a day this summer while we are staying in Kennebunkport. We'd like to visit the Botanical Gardens, take a puffin cruise, and walk around the town's shops and restaurants (thinking Blue Moon Cafe for breakfast and Lobster Dock for lunch- thoughts on those choices?). Can we park the car in one place and walk to these places? Or would we need to drive between them? We're all in reasonably good shape, no mobility issues or small children. Thanks!