Included in the Quick Tools panel is the time-saving Connect Elements Tool. With this tool, simply select the "mobile" element to be moved, then select the "stationary" element that it will be moved to, and it's done. No switching views multiple times, and much fewer mouse clicks. The parts along the x,y,z axis will stretch as needed on the "mobile" element. To top it off, this tool can also be bound to a keyboard shortcut.
NOTE: The Connect Elements' predefined selection filter can be modified via the Selection Configuration. Please see the link in the Relevant Articles below.