I guess that there exists some sort of batching and/or littering solution I didn't find which is faster. But this felt close to the shortest cleanest loop for min H@0. 

It feels like there should be some way to do more things at once, but a lot of glyphs are constrained by how few arms can get there at once. Surprisingly, I didn't find much use for Bi-arms probably some other solutions will show what I missed.