Efficiency loss is related to how strong the final beer is. Strong beers require more grain, which means a greater loss of wort to grain absorption. I'd consider sparging for beers over, say, 6% abv.
There are a couple of tricks you can use to improve efficiency. Mashing for longer, eg overnight, does help and can compensate for a coarse crush. If you have a cooler box mash tun, tip it towards end of collecting wort to avoid loss of wort to dead space.