I'm not talking about repositioning the robot, but repositioning the tool and the arm configuration between passes.
I did some tests and I feel like it's not possible to achieve what you are looking for with your current setup.
Some points are either too close or too far from the robot base.
Here's a print screen showing the "too close" situation.
There is no space for the tool between the robot and the part.
And if I move the robot further away, I can't reach the further points.
You have a few options here, the most obvious one is to take a bigger robot.
The other option is to fix the robot to either the selling or the wall of the station.
By moving the base of the robot away from the part while still keeping the robot within the working range should help.
Another thing you could envision is to cut the circle path in the parts. You could then start from the lower part, inspect your way to the top, then go back to the other "lower" section and move to the top again. That would also reduce the required range of the robot.