I'm sorry to call you out but that is just not physically possible.
From leaving the pad: If you only use your thrusters and don't adjust pitch at all, then when the station centre-marker is a thin rectangle (as in my images), you are perfectly lined-up and will not touch the sides even slightly. Even a Cutter or Corvette is exactly the same, thrusters, centre marker, raise gear, forward throttle, hello space. (I don't own a whale so cannot vouch for a Beluga but I am sure the same would apply.)
I am so used to doing it in my big ships that I even use the same procedure automatically when taking out my python, AspX, Vulture etc.