Do it all the time on my H376 - easy.
You need two things:-
1) Reliable autopilot. I have a Raymarine 6000 with rotary drive in the steering console.
2) Traveller line jamb cleats moved aft each side of companionway to between the winches. Then, whilst sailing, I simply bring the tails aft where they are ready to hand. The port side one over drapes the Edson steering brake and stbd side over the gear lever.
This means I can trim or dump the mainsail very easily and quickly if necessary.
I reckon the pilot steers my boat much more than I do nowadays.
Tacking is done using the self tack feature on the autopilot. Mine is an old version which tacks through 100° - but the boat tacks through 60°.
So, just before a tack, I ADD three presses of the 10° button and then immediately press the 10° and 1° buttons together (Auto Tack) and she tacks through 70°.
Doing this is quick and simple and the boat has no time to try to bear off before making its tack. Then you have all the time in the world to sheet in the jib on the new tack.
BTW; Later models of the course computer have a feature which allows you to set the angle through which it auto tacks, but I never bothered to take mine into Raymarine for an update.
Entering harbour it is engine and pilot on, then I lower sails and, if I don't know whether I will be starboard or port side to, I put fenders and warps on each side.
When mooring alongside I use my Alligator Catcher - see archives.