I was out on a Meet-up Group hike today at Crow Point in Wethersfield, a guided hike on the Goodwin College parcel. This very question came up, and the answer was the same as the information posted in #656181 of 2.Jan.'05. To wit: launch, and take out at legal areas, float to your heart's content if the water is deep enough/navigable but keep your feet off the bank and bottom.

YMMV, and invariably will...