Installing a dedicated hot water recirc line and pump
Run a single 1/2" line back from the end of each hot water branch until it gets back to the middle.

Join the two 1/2" lines to a single 3/4" line back to your cold water input to the water heater.

Install a circulating pump with a built in check valve in the line to prevent reverse flow.

Put the pump on a timer, motion detector or both to suit your families needs.

Never have to wait for hot water again.