If you belong to a local boat club (MBC, AH, Shrewsbury River, Shrewsbury, Rumson, Keyport), under reciprocity you can dock at any of the other clubs for an evening.
This means you can walk to pretty much any restaurant in Atlantic Highlands, Red Bank or Keyport, including places like Christine’s, Harbor side, Copper Canyon, Catch, Via 45, Robinson Ale House, Keyport Fishery, Drew’s, McDonaghs, etc.
Basically you are only limited by how far you are willing to walk. Also, in order to avoid any misunderstandings, it’s usually a good idea to check in advance with the docks supervisor.
All the clubs also have dinner nights which are on their calendars, for some of these you need to reserve, for some not.
Keyport Yacht Club also has a bar, so you can grab a night cap there after dinner.
You may also be able to dock short term with the various municipal marinas, most usually have temp slips which you can use if you are not overnighting.