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The Infinite Heaven mod has an option to load into free roam/missions/mother base on foot so you can skip the chopper flying bit at the start. And you can set the choppers wait height so you don't have to wait as long for it to get low enough for you to hop on since it'll already be that low.
If you are doing a Side Ops or just doing Free Roam though, you can select "Return to ACC" (Pause menu, press ESC) AFTER you see the yellow word "Checkpoint" on the top right. This doesn't work on main missions or while on Mother Base.
quite tedious in terms of gameplay pretty sure about 10 hours is just the heli rides in my playtime
It's not perfect but at least it halves the commute.