I'm not sure I'm there, yet. I still usually bump something, mostly the forward piling, although not hard. I think I can count the number of times I've made a perfect, touchless landing in 11 years on one hand -- and they were all at transient slips.
But isn't that what rub rails are for? And fenders? Our slip has both a cross current of about 4 knots (depending on tide flow) and a cross wind (usually). So I have to move quickly or get shoved somewhere I don't want to be. But even after I'm in the slip, it is really difficult to to keep the boat off the dock or piling.
Our current boat is much better (much easier to handle) than our previous boat. The old boat was a 32', lightweight, flybridge model that was under powered. It acted like a paper cup on the water, and at times was impossible to get docked. I hated to take that boat out. That was when my wife started adding up all the expenses just to sit at the dock. The best thing we did was to get rid of it and try something different. It takes practice and experience to handle a boat well. And if you are afraid to take the boat out on the water, you don't get either practice or experience.