I am pretty sure an attempt with a 4:10 double kill can get S-rank on Br/Hu. That indicates need to be more aggressive on PD. Focus on less orb damage and more body damage.
S-rank is still doable without automate, since it is technically possible to avoid all damage (not super likely though), and you still have other means to heal. I won't deny that automate adds safety and smoothness to the fight.
Edit: After checking out some videos, I have to say that 4:10 double may be a little slow for an S-rank attempt, but it is close!
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