a) we potentially loose the opportunity to periodically drip other helpful info over time as we are not requiring name/email for this content. correct?
I think that you are giving up a FLOOD to collect a drip.
My experience has been that I get a LOT more traffic from the SERPs than I can get by collecting emails.
If you publish awesome stuff you can still collect emails... "Sign up for free updates by email".
If we do publish without "gate" then does it make a difference if this page with pdf is part of main/sub navigation or if we exclude it from that and make if available from pages within site?
I would not publish on pdf because they do not perform as well as html pages in the SERPs and they are harder to monetize.
Instead of excluding this from your navigation.. I would be shouting about it on my homepage and every relevant page of my site. Drive as many people into it as you can.
**Does how far a page is from main navigation make a difference in relevance/importance from SEO Point of view? **
Yes. Pages in your main navigation get more linkjuice and often rank better than if they had just one or two links into them.
I would be monetizing this content with ads. They can be adsense, another network, or they can be house ads promoting your own products.