It takes a few more seconds. Never gonna happen.
For example, if the contactless limit is £100 and it only allows four contactless transactions in a row, the worst damage that can be done is £400, so banks and card issuers only need to manage the liability for fraudulent contactless transactions up to that amount (Visa and Mastercard call it "Zero Liability" protection).
So most people dont write PIN.
Of course, since it’s the 2020s and not the 1990s we don’t need either since NFC is widely supported and an Apple/Google device transaction secured by biometrics on the client is far better and already widely supported.