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I've seen Connman connect in under a second IIRC, on am embedded system. Proper PCs usually use wpa_supplicant, NetworkManager and some DHCP client, none of which are very fast.

Connman doesn't seem to handle all possible situations like NetworkManager, though, and its developers only seem to do (or approve patches for) whatever Intel management tells them to do.

It's been posted here multiple times: https://cafbit.com/post/rapid_dhcp_or_how_do/

IME, Macs connect faster when the signal is strong. But on a weaker link, it takes just as long as my Windows and Linux machines.

True, this is mostly at home. In cafes and hotels it can definitely take just as long.