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That could be a fun scenario. Just need to build the launch site, a Black Arrow and Prospero.
Or would Dragon fit on a Blue Streak launched from Woomera? Done that.
I think minimally, we would just need a prospero dummy satellite and a scenario with its current orbit elements. The Carina from Orbiter could also stand in for Prospero. Not sure about its attitude rates now.
The rest would then be just experiment. I think a lightweight Dragon on a normal Falcon 9 can already get into the Prospero orbit. Gear for securing the satellite could be put into the trunk, once secured, the satellite could be moved by a one-trick-pony robot arm into the capsule by placing a container where the CBM is. 1.2 m diameter should pass through a CBM, but could not fit through the docking port of a Dragon 2.