With all furling
sails, we can easily get going in 20 minutes. But, who wants to?
I rather enjoy poking around, checking things, considering where I'm going and what conditions will be like.
Departure is usually more dependent on whether we need to provision, fuel
up, fill water tanks, pump
out or some other thing that isn't necessarily required for a given quick day sail. We stay away from the dock at least one night nearly every weekend.
Personally, I much prefer sleeping aboard the night before departure, whereby nearly all thru-hulls have already been opened, etc. Get up, have coffee and cast off the moment I feel like it. At that point, I only have to secure items below, power up the nav and comm, pull in the shore cables and go.