Re: Surfcasting in Rockport?
The parking in Rockport is tough without a resident sticker.
You could park at Halibut Point State Park parking lot (Halibut Point) and walk down to the rocks there. A lot of people fish between there and Andrew's Point. Its off Granite Street (Route 127) turn right at the Old Farm Inn - just before you leave Pigeon Cove to enter Lanesville.
You may also be able to park on the unpaved road behind the Emerson Inn and walk down to the rocks there.
As far as beaches go - you may be able to park at Pebble Beach. I think you need a sticker for Cape Hedge beach.
Hope this helps.