I like to wait at WaWa (if coming from South) or International Way (if from the North - you will have black taxi cars queuing waiting for their passengers so populated safe dead-end street) until plane lands. As EWR has the slowest staff in America to meet an aircraft at the gate after landing no need to sit on airport grounds as you have a 10 minutes cushion easily.

While I don't want everyone to take the spots I've utilize consistently or publicize so Port Authority police forbid this easy close to terminal temporary spot. Each terminal at EWR previously had a bus depot to the right of the terminal maybe 10+ yrs ago for all NJT, NYC and long term. The bus stops have been relocated and the depot remains for employee shuttles and employee/police parking and taxi queue.

IF you plan to stay in your car and can avoid infrequent hassle by Port Authority police (they focus mostly on the terminal area/driveways).
Term A - drive towards departures level and make immediate right before terminal.
Term B - " "
Term C - drive towards mid-lev Departure and make immediate right before terminal as if you using pet transport services.

Typically a few spots available to wait without trouble facing AirTran. Hope it helps.