Darryl, walking from the pier to Penn Station is too much of a walk for me, even though I seldom travel with anything other than a rollaboard plus a flight bag.
The pier is around 55th St and 12th Ave. Penn Station is around 31st and 8th. Even for a formah Noo Yawkah like myself, and even in perfect weather, I'd rather wait for a taxi.
Although, I do like the idea of walking a short distance away from the pier and catching a taxi there. I just may try that next time I cruise into New York.