Since I reload from mag pouches most of the time my reloads go like this:
Mags floor plates up, bullet points facing to my right. I grab the bungee pull it left, off the floor plate, this is a very high speed, relatively rough act as they are pretty tight.
I then grab the mag with my left hand with my index finger on the mag's front rib, my thumb on the side closest to me, and the rest of my hand cupped around the other side and the back rib.
Using the "cupping the floor plate" approach I can maintain a good enough hold on the mag to get it out of the pouch, and then flip it on the way into the mag pouch. Also, by cupping the mag I'm able to slam it in with a good amount of upward force.
After its in, I give it a firm slap to ensure it is seated. After that if I have time, I'll give it a tug to make sure its in. I use this drill whether the gun is empty or if I'm swapping mags. Its just one little extra slap and it becomes muscle memory much easier if you just do it all the time regardless of the bolt closed or open.
BTW I use 30 rounds in USGI mags, I'd rather have two rounds and slap them a little harder. From the sound of things, some people are loading their mags till they can't move the spring at all. That doesn't seem like 30 to me. On all my mags there is about enough leeway to almost fit one more round in, even when loaded to thirty.
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