Odd. I don't find this at all. I type a great deal in the Notes application and I find I'm nearly as fast on the screen as a real keyboard. Of course this is only possible because the iPad manages to correct most of my "fingers walking all over the screen" mistakes. I really didn't expect it to be as good as it has been and figured the lack of typing feedback would be a huge problem.
I've found I can really crank along on my iPads keyboard (in landscape mode) and can touch-type almost as efficiently as on a real keyboard. Overall I'd probably say I have no realistic complaints or suggestions in regards to the iPad soft keyboard.
The portrait mode is a touch cramped, IMO, but still very usable.