It is neither efficient nor optimal and could even be unsafe, but the most fun way to optimize your PID controller is on the actual plant with iterative parameter search.

Watch your device whirr and attempt to jump off your table as your algorithm is trying to optimize the P factor! Quickly estimate how good the fit is just by looking at the actuator!

(Disclaimer: think hard about safety before doing this, and make sure your device is strong enough or your motor is weak enough to ensure that no parts will be flying into people)