I am using Dapper.NET for my database connections.
So far, I have resorted to hand writing all the SQL I need for Inserts and Updates, I've found this old post from Sam Saffron
Performing Inserts and Updates with Dapper
However, it doesn't lead to anything conclusive with regards to how to do inserts and updates from POCO objects, other than a few links to code that are several years old by now.
Since then, has a new small helper library to autogenerate what is needed popped up?