Since you are talking all grass, you are safe to assume that you are going to be silty loam, which can have anywhere from .16-.19in/in, so I don’t know that your .17 is far off…
I would say that since you watered with short durations, more frequently that you needed to, that your root structure might even bee shallower than default. Personally, I like to adjust root depth to change duration and frequency, because for me, it is a visual thing. If you set your root depth to say 4" for now. This should decrease duration a bit, but up frequency.
The nozzle PR will need to be figured out either by the meter read and calculate method, or catch cup. If your sprinklers are putting down significantly more than you think, then your duration will come down, possibly to where you think needs to be.
Like @rraisley has said before, you need to look at the long term here, and see if you can see the savings. Short term, it might look like the durations are longer than you think they should be, but Rachio is going to adjust and water less frequently than you might expect.
Once we dial these settings in, if you feel happy with the look of your grass, and want to maximize savings, you can adjust crop coefficient a bit until you get to where you feel comfortable with the grass.
As a reference, I have rotator NOZZLES (not rotator sprinklers), and they are a very low PR, and my grass zones will run for 58 minutes each, but even in the dead of Arizona summer, they will run every 2-3 days.