Yeah, no need to yo yo the grains around. Do something else with your time while the grains are steeping.
I used to just steep the grains in a grain bag in the water while it was getting up to boil. Then I started reading more information... It gets complicated. Steep small, boil large. Steep at 150º for the required amount of time. Don't squeeze the bag... etc. I wouldn't worry about it too much, it's just the steeping grains, not your base grain or extract.
I generally do the steep small, boil large. Since I know how long it takes my keggle to get to boil I'll put my grains and hot water together about 25 minutes before it gets to boil and then go from there.