First submission!  I made this with the intention of it being an area solution but I realized in retrospect that with minus arms this is just going to get surpassed by multiarm solutions with min area (since this uses a track).  That said I believe in terms of regular area, this would be minimum.  After thinking about it I decided this was still probably decent cost wise so decided to submit anyways, as doing this with 2 non extending arms seems difficult.  Really fun puzzle making everything fit.