I haven't tried this in Dorico yet, but I remember back in the very early days of Sibelius we had a trick:
1. Give each kit piece his own single line stave.
2. In what would be the equivalent of Dorico's Engrave mode (settings/ features), we squished the staves really close together, then went about hiding things that didn't look right where possible (I.E. all the clefs and bar lines but the ones in the center most stave).
In Dorico, one can hide many things by opening the bottom panel in "Write Mode", selecting the object you want to hide, toggling the 'color' switch, clicking the sample swatch, and then choosing an Alpha setting of 0.
The 'squished' single staves wasn't perfect by any means....and we couldn't put stuff in the 'spaces' of our simulated multi-line stave, but it was good enough to get the point across. We issued it to many marching band bass drum and multi-tom lines for more than a year. They never had problems reading it.
As for the 'playback'...
Do be aware that in the Play Tab you can change the instrument in HALion Sonic SE.
You could load up a drum kit (no matter what 'instrument' you chose when setting up your Flows/Players/Instruments).
Next, inside HALion itself, you can Click the "MIDI" Tab and then adjust the 'transpose' value until the kit piece you want falls under the right key for play back).
Also, if you're using a plugin other than Sonic SE for your drum sounds, and it's something that will not let you transpose/remap....you can use a Dorico 'expressionmap' to do the MIDI transposition. I.E. If sliding the whole keyboard down 4 half steps would give you the kit-piece, then make that your "Natural" technique in an Expression Map (set a transposition value of 4, which would virtually shift the whole keyboard 4 MIDI notes to the left; conversely, entering -4 should shift it to the right)...and you're good to go (assuming expression map transposition is functional...haven't needed to try it personally yet).