It's actually rather simple.

What you do is - right after Vader orders his men to scout the absolute shit out of everything - you cut to this very first shot of them in the desert:

Cut out all the arguments and them splitting up. Just right away have C3PO noticing the sandcrawler and insert the line "It's transport!... Over Here!" from this scene:

... into another shot where the background doesn't cause continuity errors (or you can simply try and paint it out).

Then cut to the scene where StormTroopers are raiding the desert:

And then go right to this shot of the sandcrawler:

... followed by C3PO saying "It stopped!" and trying to wake R2 up & shit:

And that's it. You remove all the arguments, them splitting up, R2 getting abducted... saves you a lot of time. The only thing that might be a tad too convenient is the fact that it all - them crashing in the desert, getting bought by Luke - happens in one day.

Other than that - you just have to do some editing magic and it's all done.

Good luck.