Yes, go in through the Dutch bridge, then through the causeway bridge, its 15 minutes after the Dutch bridge.
Clear in in the French side in the Capitanare in marina Royal, NOT the imigration secition in the Marigot ferry
Yes, you do need to pay the dutch bridge toll but its only $7 for a 40 foot boat.
You are right not to use the French bridge. The markers in the Lagood from the French side have been knocked out and there are many many groundings there.
I never use the French bridge.
Theres no "pussy" about it. Its insanity to run a boat aground when for $7 you can be safe.