Right, so, let's talk naval ships from the age of sail. There's no need for two sailing ships to face each other also, but that's inevitably how ships will meet on the ocean. The HMS Enterprise spots the HMS Defiant. They plot a course towards the Defiant. Defiant will eventually spot the Enterprise, and will alter its course. Both ships will meet with their bows facing each other. Same logic applies with spaceships, with two issues:

1. There's actually no need for two spaceships to meet in order to talk or transfer people. I'll hand wave that away saying that's standard procedure, as the cost in time and energy to go from the beaming range to visual range is negligible, and even in the 24th century it's a good idea for ships in the middle of the vastness of space be as close to one another as possible in case of emergency.
2. While both ships will change their pitch and yaw to face each other, there's no need to change the roll. This can also be hand waved - while there's probably a standard, absolute "up" (say, using the spin axis of the galaxy) altering the roll will allow both ships to use the same subjective "up".