I’ve experimented with a cold then hot cure, doesn’t work. You still get deformation on some geometries because the cure temp is so close to the HDT.
Whenever you can, you should leave supports on. It makes it much more difficult to remove supports though.
In general, if you don’t need the full strength shown in the datasheet, curing for 3X the time without heat has been working well for me and does not result in warping. I tend to do this on thin geometries that are prone to warping. On thicker pieces it doesn’t matter as much.