Consider removing a head or two. If there are overlapping full circle nozzles, replace with two half circles. Are these adjustable nozzles? Provide specifics to get the best solution:
1. Type of sprinkler (rotor, pop spray)
2. Nozzle brand and size
3. Arc of the nozzles (quarter, half, full)
Once you know this, you can possibly change the default precipitation. Go to the manufacturer nozzle performance chart. There are some Rain Bird nozzles that apply more than 3 inches per hour. Rachio default is 1.5 inches. Does this help a little?