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In case you aren’t already, in Haven you want to only go for the four goliaths and then leave through the Harmony exit. You still get s rank by going Harmony, so this lets you skip most of Haven and Harmony itself is a faster level than District. The rest of your route is perfect.
I skip purple rooms after Quarry, as they get more complex the further into a run you are and begin to take longer and longer to skip but this ultimately is only a difference of a few seconds so it’s mostly up to personal preference.
There’s a lot of different things that go into how long your run takes, one of the main ones is the build you use. Mark is also very impactful, you always want a source of marking. You want to take the highest impact perks first and the build itself needs to be really strong, easiest way to figure out the builds is to check speedrun.com/roboquest and see what the fast times there use. Or I can just list a build for the class you play, whatever works. Some classes will just be faster than others, (ranger and engineer are the two big ones) but all classes can get under 15 minute times. (maybe not superbot, he’s the only class I haven’t run much)
Something that I think a lot of people probably have trouble with is trying to minimize time between rooms, whether that be by adding in rocket jumping, or moving towards a rooms exit as you clear out enemies. It doesn’t take a ton of time to cross a room or connecting hallway, but if you’re having to do it multiple times per level across an entire run it adds up over time.
Using hero cape a lot adds in a very powerful tool for mobbing, as it does good damage in a large aoe and can stun enemies it hits allowing for easier clearing. You can use hero cape without being overly high by double jumping and hitting crouch at the peak of your jump. I like to hero cape smaller enemies while shooting something else.
And then the most important thing is just trying to build consistency in your runs. I would only try to add in one thing at a time and then get consistent with using that new thing before going for something new. Otherwise you’ll be trying to juggle too many things at once. If you feel like you already do everything I’ve listed and still can’t get faster, feel free to record a run if possible and I could look at it to give more tailored advice since this is all mostly general stuff. I also suggest submitting run recordings to the speedrun board if you plan to keep going for faster and faster times, it provides an easy way to keep track of how much progress you’ve made over time. A sub 20 minute time is very solid and I’m sure you’ll get it much faster.