I have done this trip both ways a few times. Atlantic Highlands is a great anchorage with a launch service
and some nice restaurants, but I don't usually stop there because I want to get further South before stopping.
I have stayed in Manasquan Inlet (Beware and check the tidal currents inside on the Manasquan river - they run fast and there are draw bridges just inside that you must contend with). I usually stop at Hoffman's marina - they are nice and full service
although very fishing/power boat
oriented). You will likely be the only stick in the house.
You can also go in at Barnegat... but I have not tried to go through Barnegat inlet yet in a sailboat - just too many bad stories growing up around there.
If you want to break up the trip further you could also stop in Atlantic City which I have heard is a great stop by boat.
The South Jersey Marina in Cape May across from the Lobster House was a my stop on my last trip. Nice folks and good food
at the Lobster House.