The last time I drove in Manhattan wasn't as bad as everyone says. Parking sucks, but you just adjust your aggressiveness to match the other drives, and it works out OK.
That's pretty much what we did...we met the normal driving aggression level which seems to be set by the cab drivers. My GF was the one driving, so I just got to look around and take in the scenery. Honking was the norm and I just ignored it much like everyone else probably does. We park a bit over a mile out from B&H and just walked it.