The "watering in the afternoon for a few minutes" video was probably referring to syringing. It's a technique to lightly cool down the turf moreso than irrigating - the light misting of water in the afternoon causes evaporation, which carries some of the heat on the turf with it. Some golf courses also hand water their greens in the afternoon so they can prevent overwatering with the sprinklers. Either way I doubt the video was actually recommending performing your primary watering cycle in the afternoon.
Regarding using a moisture reader to control a Rachio - there's some discussion of it in the Personal Weather Station thread.
Regarding using a moisture reader to control a Rachio - there's some discussion of it in the Personal Weather Station thread.
