You can get the pink foam at HD or the green/blue foam at Lowes. If they don't have a size smaller than 4' X 8', you may need to cut it to fit in your car. Since it makes a mess, they probably won't cut it for you. Some sheets come pre-scored, but if not, it is easily scored with a carpenter's square and box cutter razor knife.
Yes. You can make the portal with one piece of foam.
DON'T use white Styrofoam. That will ONLY make a mess in my experience.