That sounds about right to me too. crew unclips pole and guy, grabs a couple of armfuls of foot, then as halyard released, pull down bulk of sail, followed by remains of foot; in all about six armfulls of spinnaker. The best way of avoiding twist is to make sure that it is not twisted before the first hoist, ie. whilst still on the beach. If the helm controls the spinnaker sheet lightly after hoisting, that avoids the sail getting in a tangle whilst the crew sets the pole.