If you want to minimize mental gymnastics, then condition people to reorient such that they are always looking at the molecule the same way (e.g. lowest priority pointing back, if that's easiest for them). There are two operations I always find easiest for reorienting molecules that minimize mental gymnastics: the 120o rotation and the 180o rotation. For each rotation, pick a bond that will remain stationary and that will be the bond around which you rotate - typically one of the in-the-plane bonds.
In the 120o rotation, you don't change the position of any of the bonds, but the three other substituents (the ones not on the bond you're keeping stationary) rotation positions by one. A second rotation rotates the three substituents to the next position, and the third rotation brings you back to your original orientation.
In the 180o rotation, the other in-the-plane substituent stays in the plane, but moves to the other side of the paper. The substituent in front moves to back, and the substituent in back moves to front. A second 180 rotation will bring you back to the original orientation.
You can reorient any molecule to your desired orientation with a combination of only 120o and 180o, you just may need more than one rotation. But you can eventually rotate any molecule to the orientation that's easiest to determine R/S.
Those are really hard to explain without pictures, so hopefully the following diagram will help.