Fender socks are only good if they are new and clean.
Obviously fenders or anything rubbing on bare gelcoat will wear it. On the other hand, rub rails directly on posts can flex the boat at the hull deck joint and cause stress cracks. There is no perfect way to dock a boat in rough water.
When I dock at the Weirs, it's always a debate on which is the least damaging, fenders to hold the boat off the dock or just let rails take the beating. In calm water rails always win, in rough fenders win.
If you a have pilings on both sides, you can do a four way tie, how about some pilings?