Okay, I challenged myself to be more mass efficient.
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You've already seen the one on the right. 5kt on lift-off, abysmally low TWR (1.04!).
The 1kt payload makes up 20% of the lift-off mass.
Now the one on the left. I basically spammed titans to raise the TWR to 1.4, then started cutting fuel from both stages, removing titans as necessary.
4.3kt on lift-off, TWR somewhere around 1.4.
The 1kt payload makes up 23% of the lift-off mass.
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Lift-off!
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Turn over early to reduce gravity losses.... We will be almost horizontal before the apoaspis is above 30km.
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See?
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In orbit with 10% left. And before the booster hits the ground, even! This was much much easier to fly than the 5kt version.
More efficiency gains obviously possible.