i don't know of any automatic way to do it with the dock. when you connect the lens to the dock and click the button for customize/ adjust af/ then you have the option to manually adjust the focus of 4 focal lengths at 4 distances. it works really well but can be tedious because you have to dismount the lens from the camera every time. here is a screenshot of what i have set for the 120-300
As long as you are using it on just one camera, the dock is going to adjust the lens at multiple distances and multiple focal lengths, so it will match very well.
When you go to mount the lens on a different body, all bets are off. It may be fine, or not.
Focal adjusts the body at one distance and wide and narrow focal lengths, so its less accurate, but you can adjust each body.