They do not stamp your passport unless you ask. Don't want to use up the space.
You must call customs first and then do passport control with everybody who is on board. I had a lot of problems getting through to customs. Call on cell phone
when you enter USA waters. If you cannot get through, go to passport control anyway and tell them.
Sticker, Small boats cannot get it, you may be big enough. It should help.
The list of places to clear at has changed. Where are you planning on clearing at? Make sure that you can get to them 24 hrs after you reenter, no latter.
Do not skip clearing customs or passport control. You are being tracked. Big fines can result.
About as bad as going through the airport
. No big deal. You just have to do it.