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You can do a few things. Like extend your dock out far enough to clear any invisible collision planes such as from a fishing spot. If you have to go out too far the Foundation Pierce will not place because the bottom is too deep yet the dock itself can go out even farther. Here's the trick, you don't have to use all Foundation Pierce's for a dock you can also use Floors. You can have up to two adjacent floors before needing another supporting structure like the Foundation Pierce. My rule is I go every other section, pierce then floor then pierce then floor, etc. looks less congested and also helps save on stones. Set the last Foundation Pierce as far out as it will go then add up to two floors past that, then just place and slide your dock back until it touches the last floor. You have just created a ridiculously long dock. Well that's if the water is shallow enough, some places drop off into a void so your dock is going to be short. Anyway this trick might help you get out past any invisible collisions that are keeping you from docking. Anyway try checking if the water is too shallow first.
Here's a the spot where I had to build next to a fishing spot, it would not let me dock even though I had plenty of room.
https://steamcommunity.com/profiles/76561198129767718/screenshot/2423571107100143186/
So I set the last Foundaiton Pierce as far out as I could. You can see the last two sections are floors. Then I placed and slid the dock back until it touched the last floor.
https://steamcommunity.com/profiles/76561198129767718/screenshot/2423571107100146318/
Here's the under water view. You can see it's quite deep for the dock.
https://steamcommunity.com/profiles/76561198129767718/screenshot/2423571107100168280/