Haarlem isn't too far, but I'd recommend leaving the car and taking the train. Parking can be tricky and if you go around dinner time there are traffic jams that span the width of the country. You'd go to Amsterdam Zuid or Amsterdam RAI station. www.ns.nl has a trip planner and is available in English.
As for Maoz, there is no supervision. However, many people are fine with the fact that the only non-pareve items in the place are the yoghurt and possibly the garlic sauce.
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