The taxman will get their share in the end regardless- my understanding is that when you die your remaining pension pot will be subject to the applicable rate of income tax etc. So presumably 40% income tax and 8% USC on most of it. And afterwards comes CAT i believe.
If you take the minimum (or just below the 40% cutoff, whichever is higher) each year the effective tax rate will be lower on your drawdowns. If you then put that in an ETF the gains are currently taxable at 41%, which is obviously significantly less than the tax applicable to your last euro of income.
But really, the best way to minimise your tax liability is to minimise your wealth and income. I don't think this is a great strategy, which is why i don't agree with prioritising tax avoidance- tax efficiency should be a consideration, but not the biggest one.
While it's nice to leave your heirs with a decent pot, i also wouldn't prioritise this unduly- everyone needs to stand on their own feet eventually after all.
And as you get older it'll probably get harder and harder to spend your pension. So there's also a strong argument for blowing a significant chunk in the 10 years or so after you retire. You can't take it with you after all.