Ahoy Captain Long:Here's the "chicken" solution=When your slipmate has
returned and you're ready to depart post one crew member on the side of
your boat that faces the slipmate.
Give them a fender--or better yet a round fishing bouy--and tell that
crew member to walk slowly down your deck so he/she is ALWAYS at the
point that looks like it will touch first.

At best it won't be needed; at worst it will be. Better to loose face
than paint or chrome.

LEnfantduVent
PS:You can tell the old salts at a dock or in a marina. They don't sit
with knuckles white around their glass. They calmly get out their boat
hook/fender and wait patiently until your--or the crisis--has passed.