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Whether attached to the dock or vessel, any fender can leave a mark if not clean might have oxidation..
A vessels rub rails should determine when and where and what kind of fenders could/should be used.
Most of the time a vessel can be tied up to put minimal pressure on fenders except in extreme conditions. Understanding how tight spings can pull a vessel away from a finger pier is advanced seamanship, but used by experienced boaters regularly.
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