Re: how long does it take you leave?
From the time I step from my dinghy onto my boat at mooring, I can be underway easily in under 5 minutes (maybe 2 if I was timing myself, though I should let the diesel warm up for at least a few minutes). It's just a matter of tying off the dinghy, starting the motor, and dropping the mooring line. I can have the sails up in a few minutes thereafter. Roller furling is great.
That said, I sometimes tinker around on a few things before getting underway.