q,

Break your irrigation into more zones with less amount of heads per zone. Example if you have two zones with ten outlets for each irrigation. Make 4 zones with 5 outlets for each of the 4 zones. Make new zones with 5 outlets per zone. You will need a controller with the increase in the number of zones. Without knowing your pressure and flow rates for the main and lateral lines, I can't help with more than general comments. You will be designing your system in reverse. GL JMHO

I only have 1 outlet per zone now, a sprinkler and a soaker. The pressure isn't enough.

They are just simple 12x12 vegetable gardens. Maybe adding a3rd zone. Would a booster pump help? Can they be connected to work a garden hose?

Do all the zones run at the same time? I would check what your flow rate is from your pressure tank. Do know how to do that?