The most efficient way to rotate an array in-place is using the "Reverse" technique. If we reverse the whole array, then reverse the first k elements, and finally reverse the remaining elements, we get the rotated array.

1. Normalize k by taking k % len(nums) because rotating len(nums) times is equivalent to zero rotation.
2. Define a helper function reverse(start, end) to swap elements until pointers meet.
3. Reverse the entire array from index 0 to n-1.
4. Reverse the first part from index 0 to k-1.
5. Reverse the second part from index k to n-1.

• Time Complexity: O(N), as we visit each element a constant number of times.
• Space Complexity: O(1), as the rotation is done in-place.

def rotate(nums, k):
    n = len(nums)
    k %= n
    
    def reverse(l, r):
        while l < r:
            nums[l], nums[r] = nums[r], nums[l]
            l += 1
            r -= 1
            
    # Step 1: Reverse entire array
    reverse(0, n - 1)
    # Step 2: Reverse first k elements
    reverse(0, k - 1)
    # Step 3: Reverse the rest
    reverse(k, n - 1)
    
    return nums