If you have a permanent 'home port', it is much easier to fix it up with fenders and lines, and leave them all behind when you day sail. Keeping fenders on-board and moving them around for leaving and arriving is a pain, particularly for single-handing. You could fix up your dock with all the padding in the world, plus a V-shaped docking line to catch you when you come in, and dock without touching a dock line. For heavy wave situations, may I suggest you look at Mooring Whips (like fishing rods, examples here -
Mooring Whips | West Marine) which keep a small boat away from the dock, but allow you to adjust a line to move the boat back into the dock for boarding. I've seen these in action on canals, and if the boat is not very heavy they effectively keep the boat from smashing the dock even with wakes.