Remember that using 10 pounds of grain in a 5 gallon batch and getting 1.050 as an OG gives you an efficiency of 70% or so. That's not bad.
This sounds crazy, but in order to increase that %, you should try to hit it again and again first. Because you don't want to hit 88% next time, and 62% the following time. It's better to hit 70% at least three times so you know your system and are consistent. And then make small tweaks.
Most often, the cause of a lower efficiency is simply a poor crush. If you don't have your own mill, you sort of have to just live with that. But make sure you get your grains (and the crush) at the same place. Look at it before you brew, to see if it looks vastly different.
Once you have the crush fixed either by your own mill, or a consistent crush at the LHBS, then you can consider the next possible cause of poor efficiency. Technique may be part of it, but I think it's more likely to be water chemistry and it may be time to think about that.
The differences in efficiency between fly sparging and batch sparging are really not that significant. I get about 2% difference when I fly sparge vs. batch sparge. That may make a difference to some, but generally it's pretty negligible.
The very first thing to do would be to take a preboil reading, to check your mash efficiency. Take a sample of your wort, after stirring well in the boil kettle. Cool it to under 90 degrees, and then use a conversion table to get the preboil efficiency. Also, make sure you know exactly how much volume you have. A difference of a quart or two is huge when determining your mash efficiency! So either measure the runnings, have a sight gauge, or another method for exact volume. That would help you know where your efficiency losses are.