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Have you tried growing out your nails and using them?
I'd say to get close to a pick tone using your fingers you would need to have fingernails long and strong enough to use, and to have your EQ (on the instrument and amp) set to favor a treble-heavy tone, and play near the bridge.
I played only finger-style for many many years, but when I starting using a pick a few years ago, my style options really increased, especially when a song needs a driving bass line. Plus using a pick saved the tips of my plucking fingers when I'd do the rare 4-hour gig. So I support any bass player learning fingerstyle and using a pick.

If you want the pick sound, use a freaking pick! How is this hard to understand?