I have a larger garage so not the same problem but I have chosen to park near the door to provide more room for other activities.
My solution is quite simple and could work for you.
I park forwards - front in. IMO it is always easier to drive in, then back out.
I have an empty soda bottle hanging from the garage door opener that just touches the wind screen at my perfect stop position.
Once you have identified your sweet spot it is easy to park in exactly the same position every time.
You could simply hang a tennis ball, for example, from the appropriate overhead position.
You could also add a wheel bumper at the front end. Easy to avoid contact with anything.