There is a public dock although small for fishing type boats in Colvil. They just put up a bridge that will take you into the West End District. Kellys, Bayside, RW Brewing.
Red Wing put in a public dock right in front of ADM (across the river from the Harbor bar) that will lead you to Liberties and Hamish Bakery among other restaurants.
The Harbor Bar is right on the water with all sorts of docking area.
The woodshed is too far of a walk (for me).
If you have gear in your boat want want to feel more comfortable, the Red Wing Marina is just up stream from the Harbor Bar on the MN side. Most everything is within walking distance from the marina. Their might be a small fee to park there. Cindy can get you a taxi if you would like to venture further into the city.
For good food, I would recommend Bayside Tap and Grill. (Bonus, they have Hamm’s)
For fun(?) I would go to Kelly’s which is right next door to Bayside.
Harbor Bar has it’s Reggeafest July 26 to the 28th. If it’s not raining, it will be busy.