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As for docking, ignore what you see with the camera. You should only be looking at your navball and ensuring its lined up correctly for a straight in docking. If you have two objects use the [ and ] keys to switch between and line them up with one another from both directionss before attempting to dock. Also make sure your in "docking mode" and have RCS to allow you to translate your direction of travel to your target.
Also about radial snaping points it not exactly what i meant. Ill try to show it with little ascii sketch
U-U
U U
U U
U-U
U - is a tank
- is a beam joint or ejection strut
but when i launch my rocket only bottom joints is connected, the top one just hangs loose. Anyway around that?
Connect the decoupler to the tanks centrally and "snap" your upper and lower tanks to the center tank (use ALT for "node snap only" mode). If you need more space, use two decouplers stacked and set one to not be staged.
U U
U U
U--U
U U
U U
Also make sure "advanced tweakables" is enables in options and use the autostrut option to strengthen your rocket parts.
As for the grab tool, I have no idea I dont use it at all. I simply fly to a docking port and connect my ships together to transfer fuel and crew.
Grab tool just lets you attach anywhere on a ship/asteroid etc but the attachment point is very weak and wobbly compared to actual docking ports.