This is what I used, a dock winch. This one seems to use cable. Mine used rope.
If you don't have pipe supports, you can use a short length of pipe sturdily bolted to a 4x4 with a base board (to keep it from sinking into the bottom).
I used to used to set one side of my dock section on the bracket of the previously attached section and then winch the other end level. Then I attached the legs.
If the legs settle, you attach the winch, snug up the rope, loosen the clamp holding the section, winch the section level, and retighten the clamp.
I used it for 20 years and it worked great.
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