Have only done the zero to hero thing once, and that was on a small Motorboat. I took pretty much the same "hands off" approach as OP. I did major him in dancing around a field of
mooring bouys - some with boats on!, many without......with me calling out distances (and the odd suggestion) - but mostly about him trying things out via trial and error whilst getting confident in using the boat / throttle /
steering wheel. Back and forth and sideways. The point of using Bouys rather than fenders was a) that they were fixed so could play with currents and
wind and b) wasn't sure we would get the
fender back! Whilst I appreciate the advice about approaching a
dock faster than you want to hit it - nonetheless useful to be comfortable with using a lot of power, if sh#t
is about to happen!
I also explained (constantly!) that
Docking don't have to be pretty and that everyone stuffs it up now and again, the "answer" is a Gallic style shrug

- as long as no one dies all is good - and even then not always a disaster

. To practice
Docking initially I was onboard doing the fending off / tying up and for setting off doing the reverse (with a decent shove)......I then graduated to doing the same from the
dock, albeit I didn't tell him the first time! - just a good shove and some words of encouragement

.....practiced that a dozen times, until we both got bored. I also used simple hand signals, especially on distances to dock or whatever.....plus lots of thumbs ups.
Anyway, he never sank the boat - and did quite a few trips to foreign shores over several years, both with crew and also solo. Boat now safely sold.
But Two things I never cured him of:-
a) calling Warps: "Wraps".....my fault as was a typo on his basic
equipment list

. he still does it

.
b)
head buried in
Chartplotter a tad too much for my comfort - but he is an IT wallah, so I guess that is to be expected........