I went to Pengerang for cycling and seafood 2wkend ago.
1 point to note, the malaysia custom closes at 4pm.. thus make sure u plan such a way that you will be back to the ferry terminal at Pengerang around 3/4pm.
Another thing to note is that the ferry service operates based on max head count (10 or 11 people). It will not leave until the head count is reached unless the people there agree to top up for the balance head counts. So it will always be easier to go as a group of 8-11 ppl so that everyone can chip in for the balance. Else, there can be a long wait for the ferry to fill up.