Sadly, all of the currently commonly used chemical rocket fuels that are either hypergolic or storable are horribly toxic/corrosive/explosive. RP-1 is so safe you can pour it out of a gas can, but cryogens are more problematic and hypergols are almost uniformly so dangerous that fueling spacecraft tends to involve specialized infrastructure and complex personal protective equipment.
This problem is probably one of the reasons for EVA jetpacks generally using anemic cold-gas thrusters.
But, we have 1. sophisticated self-sealing tube fittings and 2. at least in space, a handy vacuum enviroment.
Can present-day self-sealing plumbing systems make it safe to assemble, maintain, and refuel hypergol-fueled RCS systems without wearing heavy and complicated PPE? Alternatively, will hypergol spills dissipate harmlessly enough in the vacuum of space that astronauts can safely handle hypergols to refuel spacecraft on-orbit without special protective equipment or facilities beyond their EVA suits?
(To clarify: This is not really meant to be about entire docking systems, but about the manual transfer of propellant to smaller equipment.)