One thing I've done on some of my landers is to put landing legs on the top facing upward as seen on two of my landers here. I've also used radially placed girders on an orange fuel tank. Their placement actually allows the tank to roll when you press Q or E while keeping everything attached to the tank body safe. The placement of the legs on the vertical lander also protects it from damage if it falls, and with SAS is enough to get it standing again, or to roll a short distance if needed.

Whenever I do things like that I also make sure to offset them relative to the other leg/girders. So with two sets of landing legs, if the bottom was represented like this: +, the top ones would be placed in the spaces in between like so: x. In the case of the orange tank it's 3 in a "+ x +" formation. It stands and balances on the plus ends.

This may or may not work for your current needs. But as a concept could possibly be applied in some fashion. It's saved me a lot of hassle. getting those two landers close together by rocket power would've frustrated me. Instead I landed quite close and just rolled the orange tank (surface fuel storage) to the vertical lander (fuel mining lander) with significant ease compared to trying to do small burns to move over the surface of the Mun.

In fact with the fuel mining lander, it landed still attached to the orange tank stage I used to get it there. And fell over upon landing. But since the legs were extended it suffered no damage due to the configuration of it's landing legs always holding it above the surface in any orientation.

Did not mean to write so much about this. But it's a small idea that's saved me a lot of headache before.