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Docking ports of course are a more reliable way of connecting two vessels. It might be a bit tricky to get them to line up, but this would be a good way to secure and detach a rover in a Mk3 bay.
With the KIS/KAS mod, you can attach, move, and detach parts on the fly using a kerbal with a few tools--docking ports, wheels, etc. Have them move your base parts to your lander and attach them somehow.
I also use one called KSTS that allows you to put full ships/stations in orbit once you establish the cost and weight you can lift via the recorder. Its a cool challenge to see how much you can cut your price/ton to orbit down.
https://steamcommunity.com/sharedfiles/filedetails/?id=626476676
...there's also Quantum Struts which might work for this. Not sure if it would need to be the same vessel though.
https://forum.kerbalspaceprogram.com/index.php?/topic/170898-wip-infernal-robotics-next/
Not sure if the robostruts are integrated in the base package. Think they were from the model rework.