It doesn't really matter what kind of arc format you use, wrapped arcs will be interpolated line segments, and you kind of have to use fairly short interpolation for it to look 'rounded' and curvy.
You should also program an M11 on Haas, to release the brake before you begin engraving, so the machine itself does not have to stop and cycle the brake between moves. My experience is with a Haas rotary on a Haas mill, with 4th axis prewired, so I'm not sure how that works on your setup. You might have some other means to release the brake if you are running the Haas control box, which I have no experience with.
First you get good, then you get fast. Then grouchiness sets in.
(Note: The opinions expressed in this post are my own and are not necessarily those of CNCzone and its management)