I had a good experience with Wayne Failing of Middle Earth Expeditions on the Hudson several years ago. They are based in Lake Placid.
For the western part of the Adirondacks (Moose or Black Rivers) you could try ARO (Adirondack River Outfitters) out of Old Forge. I have never used them, but know one of their guides.
Full Size Sail Rig
Free Standing Boat Racks
2-3 Canoe/Kayak Trailer
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