I've never done a Kerballed mission to Moho, but I recently successfully sent an orbiting probe with a lander there. On the first attempt I didn't have enough dV to insert the probe into Moho orbit, but I found out the trick was to time the Moho intercept when Moho is near its Aphelion. That way, the dV requirement is much lower. Also, I launched directly from Kerbin with enough inclination that I didn't need much correction later.
I agree that it's not easy to get there, but with some fiddling it is at least possible. I still don't have the experience to attempt a return mission, though.