Depending on the size of the shipment and where exactly it picks up in Brooklyn, you might consider hiring a local cartage company to do the pick up for you. There are many local NYC ones, plus a few Canadian carriers that can provide the service.
Xttang I do believe you are thinking of the no 53ft trailer rule and while yes it is a law it is not enforced and usually if they do ticket for it will be in Manhattan. We deliver and load in Brooklyn occasionally with a 53 and never an issue. I would call Kam or Zavcor etc as they are down there daily.