you don't have to stop it all at once you can let it slid until the thrusters at the top do their job..

just have some electromagnets engage the legs upon touching and boom instant grab, horizontal velocity or not, you can accommodate horizontal velocities this way, second fix have some of the thrust rerouted with some tubing exiting at the top, this would help with the stabilization at the top as well with only minor modifications and nearly insignificant penalty in weight, too easy.. they need problem solvers these space-xers

Does anyone use fedex..UPS FTW

This is why technical people should unionize, but I'm glad it's happening, all this everyone fend for your self thing that permeates the IT world is just playing itself out, you want a voice and bitch about it, but don't do anything about it, its a wound inflicted upon you but you are the ones pouring the salt on it