I have a steeroids rack used as a manual rack. Parking is the only time it is noticeable effort.
As far as shorter a arms. Making your own spindle like DSE might be tough, but fab'ing a new a arm pivot wouldn't be too bad (like DSE). Pick an a arm like SPC, which are just threaded rods, and you could be half way there.
Some of the fabricated spindles being sold for racing are pretty simple, but it is a critical part. Not sure I'd want to go there myself.