I soak mine for 12hrs, at that point they sink. Then they go into the rapid rooters and kept warm. I use a 3ml dropper to keep the rapid rooters moist, and a heat mat to keep the proper temperature. And a small LED light or T5 on 24/7 above them.
I try to avoid using a dome at all.
Since switching to this, I've had my best success.
Using paper towels I found the odd time the tail would snag in the paper towel, and then there's the risk of damaging it when transplanting the seed.
I also add a touch of hydroguard or Orca to the rapid rooter mixture (that i use with the 3ml dropper) to inoculate the roots right away.
The worst I get is Helmut heads, and that just takes a bit of patience and tweezers to fix.
Everyone has their own methods, it's about finding what gives you repeatable success.