Check this link out. It has information on most of the raritan river launches. The sayreville one appears to be the only launch that absolutely requires a permit. Edison does if you have a trailer but if your car topping it appears to be free.
This is also slightly dated as 3 of the dams on the map no longer exist. (Robert Street Dam, Nevius Street Dam came out a month ago, and the Calco Dam)
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