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In the end logrotate *does* need to restart httpd to make it release the current logfile, no shortcut for that. Maybe you could check out some things to make it rotate faster, because next to all the "other" settings you can wedge into a logrotate conf, logrotate needs to figure out how many logfiles it should rename before it can touch the new file, compress the logfile if configured so, and do any prerotate processing. If you have huge logs you could check if you really need all that data, if you rotate every day but it isn't a lot you could set it to for example once a week and if you do any preprocessing (stats?) maybe you could hand that off to another process. What you do depends on what you need/got so I can't say.
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