Space Engineers 2023 Atmospheric Launch and Return Of Shuttle B From Ambassador Class USS Eldritch
That went astonishingly well, so first thing you need to do is decouple the connector leaving thrusters off - then cntrl z to match velocity and thrusters on. This will allow you to move the shuttle freely as long as the capship (Starship) isn't accelerating, decelerating, or changing altitude wildly.
Maneuvering away is just a process of avoiding collisions, then dropping away from the larger ship either by hitting cntrl z again or just moving far enough away.
Coming back is a bit more involved as you must overtake the Starship and keep it close enough to use cntrl z to match velocity again - after which you can carefully get into the bay and line up for recoupling.
Things to try to get better at this, adjust the programmable block used for orbit to have a top speed within the range of the shuttle you are using. If you are using hydrogen or ionic thrust you'll need a lot of patience to overtake a starship going 500m/s. Much easier at 200m/s.
If you are using no mods of any kind aside from the orbital block you can still do this by adjusting it to about 80 m/s as long as your shuttlecraft goes 100 m/s.
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