I have 4 acres with trees, and get sick of mowing. (I also have a 1 acre woodlot) I see that the solution given is flawed for several reasons. In the real world it will produce a poor looking finish, but that is tolerable. The lawn will be one height and neat, but not well finished. Also the mowing modeled as a circular area is a built in inefficiency, because only the edge of the circle is cutting.
I did not get out of the setup whether edges were treated as "hard" or "soft". A hard edge you cannot pass the mower over, this would be a wall, tree, mailbox, or valuable planting. A soft edge would be a material that you can pas the mower over, this would be a driveway, patio, and certain planting bed edges.
I find that the best balance in real world finish and speed is when I mow 2 laps around the edges so I can turn with my old school garden tractor, then to create boxes that move across the yard. This allows for maximum velocity to be maintained, long orderly cuts which provide better finished appearance than irregular turnings, and adequate turning radius for my equipment, which is very different from the OP's.
Since my machine has a top mowing speed of about 5mph, and a 46 inch cut, this takes just under 1 hour per acre, for me. About 3 hours for 4 acres on a good day mowing neat growth. If my meadow has sat for several weeks, it will take 3 hours to mow and mulch that area alone, a common problem in the spring since it is river floodplain and will be under water a fair number of times.
With a zero turn cutting a 60 inch path at up to 9.5mph going in straight lines will outweigh minimizing recut because slowing down to turn reduces the area cut per unit time more significantly than cutting a small area a second or third time. That is a muscle car of a lawnmower the OP is using. He should take a whole lot less time to mow than he reports, probably because of all the turns he is taking.
Phil