Ours is extremely simple because of those priorities. If my priority was get the ball back first, then I'd probably be obliged to make it a lot more complicated. But because our main idea is to avoid a return, we can simplify to the point where we don't have to spend a ton of time on it. We spend maybe 15 minutes a week repping it rapid fire.
We are also in MA, so we play under NCAA rules. We can't hit the receiving team until the ball is live, meaning 10 yards or they touch it.
I certainly am not advocating what we do - it's just something I made up. But it's simple and it fits our priorities, and we don't have to spend a ton of time on it.
let me add - we might have our best kicker so far this year, so I might have him try to lob it up over the first row if there's nobody there. I'd probably call it just before the kick once I see where the return team is. If they have a kid there, it goes on the ground. If not, pop it over and go get it.