The references I looked at were Misner and Lewis. Neither of them actually seems to supply a definitive answer to this question, since they both assume purely radial motion. Maybe there is some simple argument to show that purely radial motion is the best case, but I haven't seen one.
We also have to be careful because people talk about the proper time $\tau=\pi M$ (in geometrized units) as a best case, but in fact it seems to be more like an upper bound, at least for geodesic motion starting from "rest," i.e., zero velocity in Schwarzschild coordinates. If you start from rest at $r=R$, then MTW show that the proper time from there to $r=0$ (not from horizon to singularity) is $\tau=(\pi/2)R(R/2M)^{1/2}$. But a massive object can't be at rest at or inside the horizon, so $R\le 2M$ isn't possible, and we can only talk about $R=2M$ as a limiting case.
So in actual cases of interest, the observer can't be at coordinate rest as they pass through the horizon, and therefore they will always pop through with some finite speed. Once inside the horizon, Lewis shows that it's a good strategy to blast the engines as hard as possible, for a brief time, so as to match up with the trajectory corresponding to the free-falling-from-$2M$ idealized case.
So contrary to what a lot of people seem to believe:
References
Misner, Thorne, and Wheeler, Gravitation, p. 663
Lewis and Kwan, "No Way Back: Maximizing survival time below the Schwarzschild event horizon," https://arxiv.org/abs/0705.1029.pdf