For INSEAD specifically? I think they're one of the only schools that has confirmed they have certain expectations of an applicant's IR score -- from the Frequently Asked Questions of their site here
https://www.insead.edu/master-programmes/mbaINSEAD does not have a minimum required GMAT score. Rather than focusing on your overall score, we assess your individual results in the Quantitative, Verbal and IR sections of the exam. We need you to demonstrate your strengths in all of these sections. In order to be competitive, you should aim to achieve a score at or above the 70 - 75 percentile in both the quantitative and verbal sections. For the Integrated Reasoning section, we recommend achieving a score of 6 or above. That is really all the information I have, so I can't give any advice (I don't know how they would view a 730/3IR versus a 700/6IR, or how they would view your IR ability if they saw both the 3 and the 6). You really would need to talk to someone who knows INSEAD very well, and not someone who can only provide general advice, because general advice might not be relevant to that particular program.
And on the off-chance you do decide to take the test again, and want to aim for a higher Quant score, then if you're interested in tutoring, feel free to reach out -- I teach a conceptual approach to the test that in my experience works very well for people with extremely high Verbal scores, and if you can do that well in Verbal, you really should be able to get to a Q49+ with the right preparation, and without too much effort. But hopefully the score you have now (which is not, as someone said above, 80th percentile -- it's around the 95th) is good enough for your needs. Good luck!