#Whenever I undock from a ship the mission automatically fails.

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waxen coral
jovial minnow
#

Get multiple parts that are docked. Pause before docking and save! Undock only when saved... if vessel gets destroyed go to the Tracking Station and you might be able to select your craft there. Load that if its in there. Unpause! Then pause again and try do undock again.
If a part repeatedly doesn't undock and you always get a "vessel destroyed" message try to undock another part. My vessels on average have 3 docked parts and one of them tended to work.