Unless in a crowded space, a draw on the opposite side is usually preferable to a pry. Rather than a direct paddle to on hull pry, an onside “push away” stroke can be done with a push-away figure-8 stroke when necessary, without touching the hull, similar to a figue-8 draw in reverse. in close quarters, a shaft hand on the gunwale may be a buffer.
When moving forward, I do often make plenty of use of the onside “bow rudder” and the offside cross bow rudder steering maneuver, but other than sometimes placing a hand on the gunwale to buffer and protect it and stabilize the ruddering paddle shaft, there is no need to pry shaft directly resting on the gunwale in any case. Sometimes only a momentary touch in the water with the blade dropped briefly in is enough to cause the desired steering effect. When I teach someone new how easy and effective it is, they are amazed that the bow paddler can steer so easily to assist a stern paddler. Their biggest problem seems to be, similar to when executing a proper J for radical steering, is to sufficiently drop the paddle far enough beneath the surface.