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I just realized a stupidly easy way to keep the swing arms from retracting until the umbilicals retract firsty: In Unity, at the key frame for the first umbilical retract, have the arm rotate just 0.5 degrees. The result is there is only a slight arm movement, but the umbilical retracts, then the arm swings.

This change has been done to both the new general-type arms (which also have revised umbilical retractions to include a bounce motion) and the Saturn-specific arms.