I notice that when I return from work, it often takes 10-20 seconds as you say, but when I have been at home for a few days, it seems to take only a second. Maybe it's related to how long you've been using the current network or something?
Same experience here with a MacBook Pro circa 2012. Often seems slow to re-establish network connection after sleep. I've seen this on a variety of networks. Really just an annoyance, but better management of this on my Mac would be nice.
it'd be nicer if that list of known networks was, say, searchable, sortable and perhaps even, who knows, taller so I could see more than a handful at a time. It seems like it's written for people that connect to 4 networks and never move around.