We have a very very good success rate here. It's unusual to have a cow returning. We AI the day we see them a-bulling, or if we spot them late on, then first thing the next morning.
With the sucklers we don't do anything specific, just bring them in, get them served, and put them back where they were.
With my Jerseys I make a definite plan to not stress them - and to a dairy cow, any change in her routine is stressful - for about 5 weeks after service. Since I worked out I needed to do this, we've had a very good success rate with them, too.