Ideally, at least in my experience, setting the payload so it doesn’t drift but is easier to nudge up than it is down will make it as light as possible for freedrive.
If you haven’t already, maybe setting up your UR to use Freedrive with both hands might help make it easier to move around (as opposed to only using one hand because the other is holding the Freedrive button.)
This was a fricken game changer for me. I can push a button on the I/O page and the robot goes into Freedrive until I push the button again.
Need to have your Payload and COG dialed in well enough so it doesn’t drift when in Freedrive but sounds like you’re already there.