Brooklyn Port terminal to EWR--Princess transfer, taxi, or what?

Arriving on the Royal Princess on September 25, at the Brooklyn Cruise Terminal, with air out of EWR at 4:35 PM. Should I book a transfer for 2 people from Princess, or taxi? If there are other suggestions, please let me know. Most likeley be travelling with 3 large, 1 small suitcases.

Would also like to know the cost of the above.

Thanks in advance.

First get the cost from Princess (per person I believe) and compare to a car service (per car) .... Dial 7 or Carmel. Let the car service know how many large bags you will have, Then make a decision.