but as is it would mess with the pace and tension release too much
You mean provide a welcome break from the snail’s pace of the Tatooine section?
I agree putting in some kind of Luke-flying-in-Beggars-Canyon sequence could break up the slog of the Tatooine droid section. Maybe go from the Tantive IV section to Luke flying, then have that end with him flying home & have the T16 really small in the sky as you pan down to the escape pod with the droids walking away? Or move it later and have it pan down to the stormtroopers inspecting the crash site?
On the other hand, I feel that slog as is helps maintain the dynamic of the droids as the central POV characters, which makes the switch to farmboy hero’s journey a little nicer. YMMV.