Seeking Advice regarding controller setup for game where player can fly and attach/detach from terrain

I'm new to Unity and C# and having a lot of fun using it, but got in a bit over my head regarding this controller/mechanic. Video here.

Some details:

• The main controller is a single script that controls flying and traversing the terrain, but I made the attaching and alignment separate for now so they are easy to switch in the inspector.
  

• The two attach methods I've been exploring are a single ray with collision capsule (set to trigger), and the Second is a dual ray cast to average the surface normal. Neither seem work very well when confronted with small radius corners. I may not be averaging the dual raycast correctly but thought there may also be an issue with collision.

• I'm currently using the barycentric example since it deals with faces, just plugging into my script. and using

transform.rotation = Quaternion.Lerp(transform.rotation, surfNormal, Time.deltaTime * interpToNormal);

• The game is locked to two axis (x, y) and the ship rotates on the z

Some questions:

• Should I separate the flying, attaching, and terrain traversal into different component scripts?
  

• The terrain is mesh collision, but the rotating chunk is set to convex since its a rigidbody. It doesn't seem to have normal information - is the only way around this to use a bunch of capsules to fit the shape?
  

• I've found a few leads for things like cars and walking on round objects, but any suggestions for attaching to mesh in this way?