There is no automated way that I can think of, I don't think there are any sensors mods with the range to detect a planet/moon surface from an orbital hight that could be used to trigger trustors to adjust the height. SE is not set up for orbits. I assume you have search on the workshop for orbital scripts etc. A couple ideas below:

1) One thing you could consider testing is having say 8 orbital way points (you can edit then instead of having to archive the perfect position each time) for an auto pilot. With a bottom thruster on override, forcing the auto pilot to constantly replot a course between the way points, generating a curved path. Will need to tune the override on the thruster to get a reasonable curve between waypoints or a lot of math. You may have to disable other top and bottom thrusters (if you have them) to stop the remote control from compensating for the overridden thruster directly. With a sensor/timer combo to trigger emergency landing thrusters in case you deorbit.

2) You could also try the following to fake it: have the station on the edge of gravity, have a two dedicated small thrusters on override, one pushes the station to the side (obit), with a small amount of force, the second thruster keeps nudging it back into the gravity well as you side thruster slowly pushes out of it (side ways). It will take a fair bit of balancing to get the override settings right. You maybe able to combine a few way points and auto pilot to keep resetting the orbit hight, to avoid spending hours trying to fine tune the thruster overrides. Add in a levelling script to keep the station aligned with the planet service (need a remote control and dedicated gyros) . Would get a more natural looking orbit, then the first idea.

3) Another easier way, if you willing to accept a lower altitude is to look a varies balloon mods designed to make air ships (vacuum cells in one). Use the levelling script and a thruster on override to simulate orbital travel. I have used a mod called Zeppelin (something like that) to make air ships and hele carriers. They allow the ship to achieve a high altitude but reach a balance point were the hight and lift cancel each other out, Some require power, others need to be filled with hydrogen but can be turned off. Possibly the easiest to configure, since height is automatically maintained.

(if you did the second idea, you may want to still consider the air ship mods) would act as a safety net to stop the station deorbiting to badly and crashing, during the setup of the thruster overrides).

Another option (not something I have played with) can you use the AI block, to better manage the altitude. It might be able to take the value of gravity in ad a variable and trigger thrusters to raise or lower it depending on the logic.

Using the Remote Control block to follow a GPS path around the planet will probably be the easiest and safest method. If you keep the path just inside the gravity well at 0.05G's the remote block can be set-up to keep the ship level as well as set a maximum speed. You can also leave "Precision" off so that ship/station won't backtrack if it's a couple of meters off.

Use a small ship and drop a GPS ever 20km, paying attention to your distance from the last coordinates and trying to keep all of the previous markers in a straight line.

This might be of some use to you:
https://www.youtube.com/watch?v=3GN8AIb_lso

Does that video's trick really work long term? I'd think it'd (guessing verrrry) gradually drift away from its altitude, up 'cause that's what the nose wants to do those are the errors that accumulate.

This does it and it works without share-inertia-tensor.

https://steamcommunity.com/sharedfiles/filedetails/?id=3812431645

Put the beacon subgrid's center of mass directly in line with the main subgrid's and everything works, this one's set to orbit directly at the exobase, the switch from 0.05 to 0 gravity, it works by using a hinge not a rotor and dropping the target three degrees when the gravity goes away, tnen putting it back to straight ahead when it crosses back.

edit: i should add it does use that nifty trick from the video, drop a waypoint on the recorder with the reference beacon directly behind it so it records as that far ahead of the beacon, then switch the reference to a beacon directly ahead of the recorder so now it's chasing its own carrot.

and p.s. when pasting don't forget to re-pick the beacon.

Cool subject!
Hi, I'm kind of new to space.
Wouldn't a gyro pitch override be a useful tool for this?
Like when I cruise around in low atmo, i can find the right value and it keeps my nose on the horizon. With a small margin for error :D
I use napkin math with the planets radius and some tweeking gets to a good enough result for afk-ing short trips, although I am sure those tweeks are actually intricate maths one could enjoy...
o7

Event Controler events: Natural Gravity Changed & Altitude.
There is planty of those spy satelites in Steam Workshop.