Not sure who told you the view is better from the pearl. I personally think the st. Regis view is fantastic as long as you have deluxe or better, but to each their own (looking at it right now on my deck).

I would probably not waste the time on the move if it were me but I am sure you could arrange something with the pearl to drop you off. Boats are always coming for dinner to St Regis and people often switch hotels (they may charge you more than typical airport drop off)