My experience has been with a different full keeled boat, but I imagine it’s very similar. I also rarely berth in reverse. To get any steering in reverse, I keep the helm centered, put on some power to gather a little way, then go immediately into neutral. With very small changes to the helm I can often get some steerage, too much and the rudder will stall. It doesn’t take much, and of course you don’t get much. As the boat slows down, just a little slow power in reverse, then back to neutral. You don’t want prop walk or wash interfering with the steering while trying this.
If it’s windy, I often use shore lines to pull the stern in the direction I want. I find it a lot easier to dock bow in, it’s then simple to rig any lines I need for a reverse departure. Rope work is easier with two people, one to manage the shore line. Make sure it doesn’t bind and pull the stern to early, and haul it in fast at the end, etc.
I rely a lot on prop walk and prop wash. I use them quite a bit to maintain control over the boat at slow speeds and always plan my approach / departure with them in mind. In a few cases prop walk can be annoying, but I made the mistake once of switching to a smaller prop that was touted as reducing prop walk. That prop had several issues, but it did reduce prop walk, which made me realize just how much I depended on it for maneuvering. I’m not using that prop anymore. Prop walk = good for full keel boats.
I also use boat hooks quite a bit. Sometimes I’ll just reverse “straight” out of a slip, let the bow blow off if there’s any wind, and keep reversing upwind until I get to a piling (preferably), or another boat. Stop, quite close, usually a foot or so off, then give a big push off with a boat hook from the stern to start the boat spinning in the direction I want. If I think it’s going to be tight, then I try to have someone near the bow with a boat hook to help complete the turn. But usually just a good push of the stern is enough to set things right.
Also just pushing or pulling the stern around the end of the dock, as the case may be, is enough to get it headed in the right direction. Sometimes I end up climbing on the bow sprit if I need to give the bow a push as I get on. That one’s not my favorite.
Often it’s a combination of these techniques. Pushing, pulling or boat hook followed by prop walk / wash, etc. If I’m using a line ashore it’s usually enough all by itself, though the other techniques are easier to do single handed.
Needless to say, this is all planned out a little in advance Though I’m sure you could be cavalier about it.