I've only docked stern-first once, and it was quite frightening. I noticed that my boat will steer in reverse if it is going fast enough, but the turning radius is terrible. There's not nearly enough space for me to use that technique to get into my slip. The trick I used in my trial by fire was to put it in reverse at high throttle until I get moving, then give it a quick burst in forward with the wheel turned hard in the way I want to go (actually I think it might be the opposite way... I do it automatically). The burst of forward causes the stern to quickly swing without killing the backwards momentum. It's almost like a stern thruster. Since this has to be done multiple times, I don't even bother straightening the wheel before going into reverse again, since at this low speed the rudder has nearly no effect.
1979 Gulfstar 37 Laissez Faire