Avenged:
While I am certain I will be proven wrong, I feel like theoretical min is simply not possible so I will settle for min+1.  Looked around for a good while to find a layout that would even work, we ended up finding a 3 track 1 arm layout, but I felt that we could do faster if we had any 2 arm layout.  Skyhawk ended up finding this and the movements looked good so we went with it.