Use a kedge.
A way to deal with this is to use a kedgeing anchor.
A kedge is an anchor (either a regular anchor or a mooring block) attached to the outboard side of the boat.
Our set up... About 15 feet outboard of our boats we plant a mooring block. Attached to the block is about 6 feet of heavy chain. Attached to the chain is enough nylon (1/2 inch is good) line to reach a conveniant place on your dock.
You tie up the boat to the dock in the regular way only a bit looser. You then take the kedging line and secure it to your outboard, midships cleat. With the loose dock lines the kedging line will pull the boat away from the dock. Adjust your docking lines so that the boat is about a foot from the rubbing posts. The weight of the chain running along the bottom will lift and drop as the boat moves up and down and will act as a shock absorber. It is cheap and easy on the boat and no permit required.
Good luck!
Misty Blue.
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