I have seen this before, but not as an official suggestion.
It would be great if, when u-turn mode is turned on for Yarbo, it enabled an alternate way of making a path through the lawn that was a ‘skip and fill’ path. ie. the u-turn doesn’t need to be so tight, it can make a curve, which would leave a gap, then later turns would fill said gap. For example.
ie. Repeating pattern of something like:
---------> (1)
---------> (5)
<--------- (2)
<--------- (4)
<--------- (6)
---------> (3)
If the pathing was calculated this way, the u-turn would not need to be as tight (and thus would not have as big an impact on the lawn), and it should be able to turn in one continuous motion without any need to reverse at all, as the width of the turn should be sufficient. Obviously the above pattern is just an example.