Yes, the law is to come to a complete stop, then execute the turn when it's safe.

A mitigation hearing is a bad idea - I don't think they are allowed to dismiss it during a mitigation hearing, only reduce the fine.

If you want to dispute it to get it dismissed, then you want a contested hearing. Honestly it may be easier to just pay the fine.

If it's a moving violation you may be able to request a deferral depending on the city. You still pay a fine, but it keeps it off your record (and thus out of view of insurance).