I should try that some day, didn't think it would be possible to dock at a base while your ship is somewhere else - I always drove around bases in my SRV where my ship's docked. Especially handy at Farseers given I recently discovered a sneaky SRV entrance after I fell into one of the canyons that allowed me getting back to my ship (which was docked).
If you request docking permission while within 7.5km of a surface base, after your ship has been dismissed, your ship just appears on one of the pads (if an appropriately sized one is free). Works this way on any surface base, Engineer or otherwise.
Example (1:58:00 and the next 30 seconds or so):
Source: https://youtu.be/5c9NDtrDAlE?t=7080
With a large ship I'll usually abort glide about 15-20km directly above the Engineer base to see if anyone is around while still being out of sensor range. If the pads look clear I'll fly down, request permission to dock, and just come in at a 90 degree angle while silent or dumping sinks, to minimize exposure. With smaller ships, I usually drop in further out and skim the surface on my way in before popping out of the terrain to hit the pad.
In either case, if the area immediately around the pads seems hot, I simply abort my approach (reentering SC if needed to break pursuit), land outside typical sensor range, or at least far enough away that my ship will be dismissed by the time anyone can reach me, and drive in with the SRV. This is slightly more difficult since the introduction of night vision, but since people have a tendency to chase the dismissing ship rather than look for SRVs, and SRVs are still invisible to NV outside of 800m, it's usually not difficult to sneak past (if you turn the lamps off, which are otherwise visible from 20km, or more).