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This is the only thing I can think of. Hope it helped. :)
You can dock to any surface of any vehicle or base, as long as it is in your faction and as long as the thing you're docking to is not already its self docked to something else.
Docking pads are just landing gear for HV (in vanilla. In RE they are used on other vehicle types also)
If the landing gear are not on the bottom, then up-thrust is not the right direction. But there can be clipping issues and other bugs.
Exiting and reloading can fix some things, but sometimes the console is the only way.
It seems to happen with latency and warping but this is an untested hypothesis.
There are no reasons why a SV could not take off apart the lack of energy or fuel, and if it's YOUR base and not some derelic POI then you should always be able to dock. If it's a taken-over base, then check if you have set the base to 'Private' in your P menu, this could be a reason why you can't dock but IDK.
My understanding is: If you have cored a structure then you can dock a SV or HV. A docking pad is only for docking a HV on a CV.