It depends on the shape of the piles/posts you rub against.
But here:
www.whitworths.com.au/contour-fender-blue part number 36170
or 36188
www.whitworths.com.au/fndr-whit-foam-sml?q=36188otherwise very careful steering when entering, but I know that's not always possible in winds. You could hang these flat fenders (or camping mat) from your yacht too, then store them afterwards.
When I had a berth near the launching ramps, I would get the nose into the berth, then I might pick up the 2 forward ropes (attached to the land/front) to pull myself in with the boat hook. Depends on your steering, wind/currents, and how long Kinora is.
We can catch up in 2 weeks' time.