Depends on the arrangements. Keep in mind, my perspective is that of the guy who not only runs the boat, but maintains everything outside the machinery spaces as well. Floating docks-properly hanging fenders will do you for most weather. Gets sporty, a couple Norwegians will normally do the trick. Now, fixed piers - pilings need to be kept from rubbing on the rails. Some moorings make that easy enough, where you can rig lines to keep it off the pilings. Some arrangements you're laying alongside, where the best you can hope for is a floating camel - so you beat up the waterline instead of the rail.
But having smashed up my knees, back, neck, and a shoulder getting the snot beat out of me on boats, I'll take the nice easy step from a floating dock to the deck any day over ladders and a well timed jump.