Note: I think the SRV is well designed for it's job, and does a great job of running around on planet surfaces.
Getting back on board is the pain.
Get exactly under bay, pointed in right direction. Centered up. No "Board Ship" light.
Drive forward 1 meter. No little "Board Ship" light.
Back up 2 meters. No light.
Pull out completely, adjust track to exact centerline of ship, measure by compass angle, repeat. Repeat. Repeat. Repeat....
After PlayerSufferingTime=X, then allow board ship light.
Speaking of jumping off cliffs, the self-destruct in the SRV is supposed to put you back in your ship.