Can you be more specific on those "
...few manufacturers who offer variations of mooring whips"?
Reason I ask is we don't know which ones you may have had in mind.
That said, in general they are made for smaller boats and the ones I've seen advertised all showed small powerboats. Your boat would be heavier and would have a deeper keel and, therefore, different behavior at a dock.
While the concept is great, if they were that applicable to sailboats, I'm sure many skippers here would already know about them and be jumping in here with both feet!!!
[Some once said: "Don't ever test the water depth with both feet!"]
You mentioned "bulkheads and pilings," so it appears you don't have a floating dock. Is that true?
Fender boards then are the next reasonable conclusion.
Flat fenders are also a good solution because they don't ride up, twist and get the boat dirty.
Keeping whatever you use clean is obviously important. Over the years I've used everything ("boaty" stuff, acetone, etc.), but the most successful cleaner I've found for fenders which have picked up airborne and dock grime is "Paint Brush & Roller Cleaner" from Ace Hardware.
Good luck.