The brokerages I've received my RSUs through all give tax election option. I can elect to a) pay money ahead of time and keep 100% of my RSUs, b) sell to cover,

The brokerages I've received my RSUs through all give tax election option. I can elect to a) pay money ahead of time and keep 100% of my RSUs, b) sell to cover, where I keep ~70% of each grant and the rest goes towards taxes, or c) sell all immediately, regardless of blackout periods (though I can only change my selection during trading windows). I had to pick one of them, so I think describing it as "setting up a 10b5-1 plan" might be inflating the difficulty of the process somewhat, even if that might be what I was unknowingly doing at the time.