Where should I start on LiDAR based auto-docking procedures?

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I have been searching for an autonomous docking algorithm based on intensity data from LiDAR (or 2D scan data) but could not find any tutorials or any codes on github.

So my question is: Where should one start to create/code an autonomous docking algorithm, based on data coming from LiDAR sensor(s). It seems that there is not any packages related to auto-docking too. I tried using the nav_stack to approach to the charging station in a simulation but the accuracy was pretty bad.

NOTE: Please do not mention kobuki/Tutorials. I tried working it on ROS Noetic but it does not seem to work anymore.