It's probably improvable but this is a nightmare to program.  And that's coming from someone who did min cost 6P.

It's 19r in the inner loop, with 2 cycles saved at the start and 6P to save headache because the main track loop would need to be 10P to loop.

I had a prior solution at 25r and did only one redesign to get to this.  If I always had a grab point right where I want it, 17r seems doable.  But that means synchronizing the stop points on all relevant track loops, and I needed some sacrifices to make it work.  Hopefully everyone ran into similar problems.