Here’s the visa workaround: You enter US Territory with an ESTA on an official carrier (like a plane or in my case, a ferry). Then you get a stamp in your passport that says you can stay on US soil for 90 days. You go back with the ferry, fetch your boat and reenter with your own boat since you now have a stamp. That’s what people say on the internet but all these informations were a bit old and I couldn’t find anybody who could confirm this.
