Take the time to dial in the fit of your system. A ropewalker or frogwalker will use less energy if they're tuned compared to sit stand systems.

Get the chest ascender connected as low as possible on your harness.

Don't be that concerned about toothed ascenders picing your rope. As long as you're going up the rope they will not pic. If you try to take them off without unloading the cam first you will pic the rope.

If you wanted to eliminate a toothed ascender you could try putting a microcender instead of the chest ascender. The Pantin works too well to think about replacing it.