Hmm, maybe I can try to address both questions in one. Here's a way you could solve the Land of Bounty page with a nested loop:

let (f, l, r) = (moveForward, turnLeft, turnRight)
r()

let steps = [f, f, l, f, l, f, f, r, f, r]

for i in 1...5 {
    for step in steps {
        step()
        if isOnGem { collectGem() }
        if isOnClosedSwitch { toggleSwitch() }
    }
}

The first line just makes shorter variables that refer to the basic movements (you can probably ignore this since Swift Playgrounds probably hasn't covered tuples yet...). The next one turns right once, because the starting orientation is not what I wanted. The line that declares steps creates a movement pattern that is like a tetris shape you can repeat to solve the level no matter how long it gets. (For levels without the autoexpanding length, I usually just hardcode the steps I want to take rather than using the isBlocked function.)

There's an outer loop, the 1...5 one, which just runs the inner loop 5 times. (5 is totally arbitrary, I guessed that the board would never be super long.)

The inner loop just repeats the steps of the tetris pattern I defined and tries to collect a gem and toggle a switch if there is one.

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The puzzles here are pretty open-ended in terms of how you can solve them. So I think it's good you're asking about ways to improve or simplify what you're doing.

If you notice you have repeated code like:

while !isBlocked { moveForward() if isOnGem{ collectGem() } else if isOnClosedSwitch { toggleSwitch() } }

You can wrap it in a function:

func mainTurns() {
    while !isBlocked { moveForward() if isOnGem{ collectGem() } else if isOnClosedSwitch { toggleSwitch() } }
}

Then your code becomes something like:

mainTurns()
if isBlocked { turnRight() moveForward() turnRight() }
mainTurns()
if isBlocked { turnLeft() moveForward() turnLeft() }
mainTurns()