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1) There are a lot of settings and planners you can play with out of the box in MoveIt. Is it really more difficult or less reliable to plan though? And is that true for all poses or is it just your impression? Systematic benchmarks to compare these issues and overall MoveIt performance are an open code sprint topic. You can apply for a GSoC grant if you are interested in those projects.
2) You did not post your code (there is no attachment), but I assume there is a setting for multi-threaded planning that you have not touched. You can check here what the Rviz plugin is doing to produce that terminal output.
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