Guardian or Engineering upgrades first?

No, I can't recover from 4 secs approach unless the destination is in a high orbit, in those cases you recover instantly anyway from full throttle approaches and that is definitely faster. ;)
It might be worth testing - I found it hit-and-miss (but I didn't practice to find if it was useful). One time SC-assist dropped me out inside the station, which meant I got a fine and had to leave and ask for docking, so your approach would certainly be faster than that :)
 
If you do it well, manually, the assist is definitely not faster. ;)

I fly 99% of the time with Flight Assist off, I mainly use Flight assist as "space brakes" hence the 1%, and I can get a ship from the 7.5km requesting docking to being safely settled on the pad quicker than either of the docking computers.
 
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