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The following are all of the ways that I know to deal nonlethal damage with lethal weapons without a penalty. Many of them should work with some ranged weapons.
Bludgeoner (combat): all bludgeoning weapons
Merciful Bane (general): any weapon currently affected by your Bane class ability
Stage Combatant (combat): any weapon for which you have Weapon Focus
Virtuous Creed, Mercy (general): all weapons
Weapon Special Abilities
Merciful: any weapon