For this neck of the woods their hourly labor rate is probably the lowest I know of (under $100) and they are very experienced. I would give them a call to see how many hours you are looking at. I also did the RMS swap and had the rear axle boots replaced since both were torn.
You could probably get a cab from the Newark train station to Belleville (it's north of Newark) for $25 then hop onto the Acela if you were dropping the car off by yourself.
tip: Call Belleville Taxi from the train station and tell them to pick you up a the entrance to the hotel directly across the street. Don't take the cabs at the train, you'll pay much more.