I don't think there are any access points that you can use casually. In an emergency, I'm sure the North Cove mini-marina would take you in. Other than that, it's all seawall and ferry docks until you get around to South Street Seaport. Again, any of the ferry operators would help you in an emergency if they could.
What is the bigger picture of what you are trying to do?
Rescue / Throw Bags
Touring Kayak Paddles
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