Bruce, I think it is definitely a good idea to gently move back to lay out the rode...
Actually, one trick I have found works quite well for me and my S-Sarca, is to do what they call the yachtsman's drop... if possible approach slowly from up-wind, slip her into idle/neutral when I reach about where I want the anchor to be, then start letting out chain, as I swing her hard over one way or the other, then let out about 3 times the depth as we go, then stop the winch, and the anchor takes up nicely but quite gently, and the boat swings round gently to end up pointing in the same direction as the others..