@1965R For coding, I would use PID on the lift, while it doesn't increase speed directly, it will keep the lift very stable which will put less stress on a certain motor. Which in turn will make your lift be able to go up easier. Also for your intake, using a passive intake out of polycarbonate plastic will reduce your weight of your lift. Also Turbo motors have little torque which will make the lift slowish, I would recommend using High speed motors (using high speed gearing) or even standard ones. We use standard motors on our lift without modification to the gearing, and we have a quick lift. Also we were using 35' c-channels for our arm (the part that connect the arm to the tower) and we were pretty good as far as speed is goes. Definitely use 25' c-channels for the part of the arm that connects the arm with the tower. We did have PID on everything so it was more stable.
It seems to me that you are talking about the primary lift. OP was referring to a secondary lift.
@Evan56G go crazy with weight saving on EVERYTHING that's on your rollers/4bar. For example, I use ziptied bearings and 1 x L channels. I only use 1 motor screw (I know it's kind of extreme). Using nylon screws would also be a good idea, as would be using aluminum screws. I also got rid of some of the structure parts of our rollers for weight reduction, and all of this helped a lot.