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NASA after watching Starship IFT-5
(sh.itjust.works)
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They do have some experience in this area though. Dragon can autonomously dock to the ISS.
Yeah, they could just slap an PMA+IDA port on Starship like the ISS has, but that's just a hole with data and power ports. Those are pretty easy compared to fuel transfer, and they're specifically NOT suited to lateral forces. It also seems a bit unfit-for-purpose to make a big and heavy crew-transfer dock when you don't have to.
True, an IDA port is not well suited for fuel transfer. I was thinking more of the GNC software experience SpaceX have for rendezvous and docking in general. I suspect the ports themselves will look more like the ship and booster quick disconnects we see at the launch site.