For lander legs, I've been using a modded in set. Although that's the only mod I"m using at the moment. They work well and I don't really consider them cheating. Except for a few experiments using empty solid boosters(which requires me to deal with making them empty at some point in the flight) I haven't found a single halfway sturdy, and decently weighted way to make legs that can survive a landing, especially one with any sort of lateral movement, from the stock parts.
For the moment, my lander/return craft is capsule+parachute on to of a coupler, on top of a liquid fuel tank on top of a liquid engine. attached as low as possible to the center fuel tank are four more, connected with fuel lines to the center one, and with the legs attached to the outside of those. Originally this was only because the legs were shorter than the liquid engine, so I needed some way to extend them a bit, but now it seems as if this is a good design otherwise. Spreads the legs out a bit to provide more stability, keeps the center of mass low so I don't have to worry about landing on slight slopes too much and gives me plenty of fuel to work with. Those 5 tanks have been getting me all the way from low kerbin orbit to the mun, and back very reliably.
Most of my experimenting has been to do with the first and/or second stages, trying to find a more efficient or stable way to get into orbit and perhaps giving myself a bit more push off to the Mun before having to separate so I might eventually drop a tank or two from the lander.
I also need to work on my Mun to Kerbin transfers. They definitely need to be more efficient. Kerbin to Mun aren't too bad but could use a bit of tweaking as well. I usually get there with a velocity of 550-600 m/s at a periapsis of 200-250km. On the way back though... yeah, I'm usually left in a very wide, very eccentric orbit.