How about rigging a spring line from the bow side cleat, hook the dock and
slowly feed it out as you come in with the engine turned to push the stern to
the dock.
Not as elegant, nose into the end of the dock, drop your mate with lines and
pull yourself in.

I would suggest practicing your docking while the other boat is gone. You may
just figure out a way to do it with no special rigging.

Can you sink another piling between the slips? That and a line to the end of
the slip could keep you lined up.