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My usual technique is to make sure both ships are exactly aligned to 0 inclination. That makes sure they are on the same parallel course. One ship I send up first and set to 100k alt. Second ship I send up as the first one is overhead KSC. I send it to 80k alt. Then I just have to burn some prograde at the end of my orbit insertion burn to keep going and hopefully RDV directly with the first vessel.
If that doesnt work or I mis-time it, I just wait for the second ship to pootle around till its in position again and keep increasing my alt so I can get as close an encounter as I can.
At the RDV point, its then just a matter of circularising your orbit to match the first ship. You can get pretty close after a bit of practice.
If you like some math here, hover over where the intercept will be and look at the relative difference in velocities. Then look at your vessel's total thrust, divide by its mass, and you'll have your vessel's acceleration. velocity * velocity / acceleration / 2 will give you how far you'll be from your target when you want to start that burn.
https://www.youtube.com/watch?v=AHkY3FusJIQ&t=471s&index=5&list=PLYu7z3I8tdEm5nyZU3a-O2ak6mBYXWPAL
After some practice rescuing Kerbals stranded in orbit, I finally got the hang of it.
https://steamcommunity.com/sharedfiles/filedetails/?id=1348190125
NIce set of instructions! I wish everyone was as helpful as you are!