Actually, there's no need for good timing with cmd+r. After you've pressed "restart", unless you have processes that have to be closed first (because of brltty and screen I have to first give permission to close terminal if I haven't done it first), you can just hold cmd+r down and keep holding it down past the chime and for a few seconds after that.
-- Cheryl "Let the words of my mouth, and the meditation of my heart, be acceptable in thy sight, O LORD, my strength and my Redeemer." (Psalm 19:14: Bible KJV)
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