Monroe Harbor
As Mike says go to Burnham Harbor. You can launch your boat from there but best to plan this Monday - Thursday because week-ends can be busy and there are only 3 ramps to use. They also have parking for your trailer and tow vehicle. There is no place to launch at Monroe and there are no slips at Monroe, only mooring balls. Further, Monroe Harbor has an huge opening to the Lake on the east side. With a little bit of wind/waves you get tossed around in the harbor and can get sea-sick. Believe me I used to moor there long enough to get a tranfer to a harbor with a slip - Burnham which is I guess a 2 - 3 mile walk to Monroe. There are few if any people living on their boats in this harbor.
You can also check out 31st street harbor which is in its 2nd year and is a few more miles South of Burnham but less crowded.