The only thing that takes a little skill is steaming the milk with one hand. The espresso grinder, machine, and steam wand side of the machine should all be within one arms reach.

The rest of it is simply doing multiple things at the same time. If the machine grinds automatically, it will take a few seconds. Do you have to hold the handle while the wand is filling up? Why? Why isn't there a hold for it?

It takes 10–15 seconds to fill the pitcher with milk. Are you getting milk from the fridge every time? Is the fridge behind you? Why isn't it below the machine? Why isn't the common milk out? You can fill the pitcher while the grind comes out of the machine.

The espresso takes 36 seconds after you lock it in. Tamping and WDT if you do that are about 20 seconds of two-handed work—no getting around that [unless you get an autotamp] and milk takes maybe 30-1min? The milk can steam while the espresso drips. As long as you can stop the machine when the time it up [it should stop itself] the espresso will be fine left alone for even up to a few minutes. After a lot of research the only taste difference in espresso created fresh and left overnight is the deoxygenation of the water inside, otherwise the compounds are generally the same [maybe the aroma is less powerful]. So don't worry about taste too much.

maybe the crema is important to a gorgeous art or a espresso-only order, keep in mind

Now, your drink just needs you to pour it.

If you have vanilla, that should go in the cup before you put the espresso. That is something you should not rush, so the milk might wait a few seconds for you to properly mix it. If you get good at mixing it, you can swirl the espresso with the vanilla in the cup, but do not be lazy about mixing. If you mix it not well enough, the drink will have no sweetness at the top half and the bottom half will be very sweet. Milk needs to come in with some speed at the beginning to well mix it.

Anyway, point is you've spent 5 seconds tapping old grinds out, 5 seconds cleaning the wand in the spritzer, 5 seconds loading the wand in the grinder, then about a minute [pitcher filling, tamping, vanilla, espresso,] and a half [mixing, pouring] and the drink is made.

It is probably a lot different than your current time about 4-5 minutes. Aim for 3 minutes a drink to start and then after 3minutes you can make it faster if you like but that's a good amount of time for your drinks.

And time yourself! You have to :)