I got 100% using BFS. At every node, I tried without change, turn clockwise, turn anticlockwise (if clockwise and anticlockwise do not give same node) and save it. If I have a preceeding "WAIT" move I try double turn.
This passes all tests except for the last 2.
For last 2, I ran my fastest movement list, ans when I got a "WAIT", I tried eliminating rocks.
This was enough.