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https://mods.factorio.com/mods/Bobingabout/bobinserters
It doesn't require any other mod, and as you research its new entries it lets you mess around with how the inserters behave.
You can make a yellow inserter pick from 2 blocks away and drop 1 block away on the right, you can make inserters put things on the close side of the belt, and so on, with a fairly easy to use interface.
The copy/paste that you use for recipes in assembling machines also works so that you don't have to always go in the UI to do something.
If you don't want mods, you can have up to 3 inserters on each side of the assembling machines, so even if you only use 2 sides that is already 6 input/output belts you can use.
Doing that requires a bit more space for the belts as you need splitters and underground belts, but if you make both side bring a different product, the 3 belts from only a single side can already bring you up to 6 products, which should be enough for the vast majority of recipes.