Is time really a concern when camping? I mean does it matter if it take 2 mins or 20 mins to setup a tent? Are you in a rush when setting up camp?
I have a nice tent that takes maybe 5 mins to put up and secure. Another 10mins to inflate the air mattress
It's contextual. I agree with your sentiment that camping should be a relaxed affair to savor the experience. Take the time to enjoy the process.
There's the other reality for frequent use that others have pointed out.
Having camped through some adventures, there's another variable. In high winds, rain, or extreme temps (hot and cold), the setup matters. It can make or break the experience along with the need for shelter.