Why can't i dock?!

[Mr Shifty]

Circularisation.

You don't have to circularize if you've got a close intercept (<30 km) from launch. You can just start rendezvous maneuvers and by the time you get close to the target with small relative velocity, your orbit will have become circular.

match orbital inclination

If your target vehicle passes overhead on its orbit, you can launch to the correct inclination. Just wait for it to get nearly overhead, but just behind your launch point, then launch and do your gravity turn away from the pro-target marker.

Then engage the asas and rcs.

Be warned that this will use a ton of monopropellant. ASAS runs all of your RCS thrusters continuously. There are several forum threads about how ASAS could be better implemented for reaction control systems, and I believe that the 0.21 update will have better ASAS, but right now it's terribly inefficient for docking. You're actually better not having it and just using SAS. When I dock, I only use ASAS when RCS is turned off.