We develop an alternative time-dependent numerical renormalization group (TDNRG) formalism for multiple quenches and implement it to study the response of a quantum impurity system to a general pulse. Within this approach, we reduce the contribution of the NRG approximation to numerical errors in the time evolution of observables by a formulation that avoids the use of the generalized overlap matrix elements in our previous multiple-quench TDNRG formalism [Nghiem {\em et al.,} Phys. Rev. B {\bf 89}, 075118 (2014); Phys. Rev. B {\bf 90}, 035129 (2014)]. We demonstrate that the formalism yields a smaller cumulative error in the trace of the projected density matrix as a function of time and a smaller discontinuity of local observables between quenches than in our previous approach. Moreover, by increasing the switch-on time, the time between the first and last quench of the discretized pulse, the long-time limit of observables systematically converges to its expected value in the final state, i.e., the more adiabatic the switching, the more accurately is the long-time limit recovered. The present formalism can be straightforwardly extended to infinite switch-on times. We show that this yields highly accurate results for the long-time limit of both thermodynamic observables and spectral functions, and overcomes the significant errors within the single quench formalism [Anders {\em et al.}, Phys. Rev. Lett. {\bf 95}, 196801 (2005); Nghiem {\em et al.}, Phys. Rev. Lett. {\bf 119}, 156601 (2017)]. This improvement provides a first step towards an accurate description of nonequilibrium steady states of quantum impurity systems, e.g., within the scattering states NRG approach [Anders, Phys. Rev. Lett. {\bf 101}, 066804 (2008)].

15 pages and 10 figures; Additional figures and references added; typos fixed; references fixed