In the Soviet Moon mission, for which the ill fated N-1 launcher was built, we know that the cosmonaut responsible for landing on the moon was to transfer from the equivalent of the command module to the lander with an EVA. I can picture how this would be feasible safely using a ladder and a rope.
But how was he supposed to return at the end of the mission? If a docking hatch was planned, why not use it to get in the lander in the first place? Was some form of docking planned? Like the two modules grabbing each other, but the transfer to happen with an EVA like at the beginning?
I can't figure an EVA transfer without some form of attachment between the two vessels (at least, I can't figure any cosmonaut willing to bet his life on it...)