Whilein warp to the belt drop a bookmark just before landing. With the right timing it is 150-500km away.
Now you can warp to that bookmark and back directly to a rock.
I never really felt the need to do that, I usually bookmarked the next rock so that when I warp off to offload ore I can warp back on top of the next rock.
If I’m staying inside the belt because another ship offloads, the slow pace of mining means my slowboating barge can get in rsmge of the next rock while the previous one is cycling.
Either way, I never bothered to put a propmod on barges. Waste of a mid slot and fitting space.