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If you properly place your heads, you should get head to head coverage and that can be tweaked to get the additional foot. I haven't really seen any circumstances in my area where the heads are that far away from a sidewalk, just far enough away so a stick edger won't hit them.
In cases like that, I'd make sure my other heads were covering the area ( even lightly overspraying ) the sidewalk. If you are in the colder climates, check for liability on the irrigation freezing the walk in the cold of winter ( you've seen it, someone forgets to close down the system or there is an early freeze!!)
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