Good advice about leaving a couple hours earlier than planned. Trust those words.
Take either 295 all the way around or the new 9A bypass. When you come to the southern end of the city, the highway will split into three sections. 295 will head west and take you all the way around. But that will take the longest.
95 goes right through downtown. Don't do that, as the parking lot will be there.
9A is relatively new. Take it toward the shore. It will move along between the eastern side of town and the beaches. When you cross the extremely large Dames' Point Bridge, you will see the ship on the left side. Take the first exit off the bridge and follow the signs.
Keep the ship in good shape for us, as my wife and I board in 10 days for our 25th anniversary.