Sorry I thought you meant getting in and out of the water. On the Cat, I typically position myself at the bow of the dinghy and grab onto the pushpit or davits and pull hard to keep the dinghy in the "corner" formed by the hull and aft bridge deck. I offer the free hand to the boarding individual. This has worked pretty well even for the less-than-super-steady.
Docking can be stressful if you start getting micro-managing input on what to do with the throttles.
I find it really helpful to have a clear idea of where and how I am docking - and then manage the approach on my own.
I agree that battens getting hung up raising the battened mainsail can be frustrating. What I have found works best is to "fly" the sail between the lazy jacks, looking up through the helm roof window with my hand on the wheel and toe on the winch button. This does take some practice.
If you have able and willing crew, they can stand on the coachroof with boathooks to guide the sail and free it when it gets hung up.
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