Mistake 1: No stopper plan
If you do not assign a stopper before moving, extra correction moves are almost guaranteed.
Here is how this plays out on the board. Suppose the target is at (9, 6) and you push the red robot downward hoping it will land there. Red slides from (2, 6) all the way to (16, 6) because nothing was in the way. You have now wasted one move and red is in a worse position than it started. Had you first checked column 6 for obstacles between rows 2 and 9, you would have realized you need to park a helper at (10, 6) before moving red.
The fix is simple: before every first move, identify what stops the target robot at the goal cell. If nothing does, your first move must create that stopper. This one habit alone can reduce your average by a full move.