I live very near that house in Muskego. I believe that particular neighborhood has two "parks" that you can use to access the lake. They do have piers but you can only tie your boat up for a day or a few hours at a time. You do not get a slip. That house is set up a bit higher so you can probably see the lake from the house. I did look it up on MLS and saw that it is pending. If you are interested, I could find out more information but it looks like you may be a bit too late.
Are you looking for a lake home? If so, feel free to contact me. I live in the Muskego Shores subdivision and I would be happy to help. I do know of a few lake homes that are going up on the market soon. There are a couple other homes with lake access for sale as well.
Thank you and good luck!