I have a March pump that I run basically from mash start to stop. This allows me to leave the burner on the stove on while I recirculate, thus allowing me to maintain temps. It takes me about 10 minutes or so to get dialed in but hasn't been much of a hassle and is cheaper than building a RIMS setup. I have a spigot on my kettle that is right underneath my false bottom. Wort is then pumped up to the top of the kettle. Recirculating has helped with my wort clarity and extraction. An alternative method of maintaining temps through a BIAB session is by using your stove, a squat brew kettle, and a pizza stone. Heat up the oven to 180, plop your kettle in, and forget about it. With regard to mashing out, I usually heat up to about 167 while recirculating and try to wash the grains as best I can. With a smaller beer (sub 1.060) I get around 75%, which drops off rapidly above 1.090 or so. This beer is about as big as I like to do.