You mentioned that there were other ways to solve this issue, such as discretizing your speeds or using second order kinematics, but mention that the basic solution of a velocity coefficient worked very well for you. I was wondering if you had any measurements that you recorded for this interaction, as my team fiddled with a couple of solutions and ended up using discretize with an added multiplier that corrected for the lack of second order, or just noise in the real world… If we are overthinking it, let me know if velocity coefficients are the way to go 
Edit: Here are our measurements (source)
No multiplier got use within 36 in of target over 15 ft of rotating while the multiplier of 4 got us within 6 in.