Just like to point out that they are not the same thing. Jets will always be doing visual circuits because as you point out they are the most efficient way of arriving and usually via the DME arrival.
What is the technical difference between the two?
ie what is stopping someone from conducting the RNAV approach down to the Straight in MDA and then conducting a "visual circuit".
Seems to be a bit of a grey area where you can call anything a "visual circuit" to circumvent the no circling area and circling approach MDA.
Or am I missing something?