I dont find it an issue at all. I pull my shot, press steam button, empty PF and get my milk and jug read, and by then lelit is ready to steam.
most mornings it takes me less than 10 minutes to grind beans, make coffee and do a quick clean of the machine (i usually just backflush at night or something). I always drink a cap, so thats including milk etc.
I also turn the machine on as soon as i get up go have shower get dressed etc (which takes me about 20 minutes) by then, the machine is plenty warm enough for my coffee.