Beals is at the end of the road right next to the Coast Guard base. It is worth the drive IMHO.
https://downeastwindjammer.com/ferries/bar-harbor-schoodic-winter-harbor/
This is the trip/ferry I read about last time we were there.
This is a passenger ferry only. It departs at 9am & 11am. Takes 45 minutes to cross over.
Most people then explore the Winter Harbor area. Which is also part of the park. You can bring bikes for an additional $5. Have lunch then return.
It is not nearly as crowded as Bar Harbor and Mount Desert Island.
$20 each way.