Not only do I have the muscle memory, still after 30 years, I also have the added incentive of knowing the value of my own time, not being fatigued from hours of work, the ability pre-position items in the cart at an optimal orientation for handling and scanning, and foreknowledge of what items I have and a plan for how best to bag them that was made prior to my arrival at self-checkout.
So, yeah, I scan faster.
Much faster.
edit: oh man this has brought up a bunch of frustrations. Why do customers just pile shit on the counter? When I interact with a cashier, like at a gas station on a long road trip, every item I place on the counter has the barcodes oriented towards the person, so they can just "zap zap zap zap" the items rapid-fire without handling them. My bag (I live in a civilized state that has banned plastic bags) is ready and waiting, items are organized and presented in an order that make sense for ease of bagging. My payment method is ready. The experience is efficient and quick.
It takes no mental effort to do any of this and yet I am constantly stuck behind people who act as though they are purchasing things for the first time in their entire lives and the process is as foreign to them as communicating in the language of an extraterrestrial intelligence is to me.
But to answer your question, after a year I use those 30 extra minutes to play Sonic the Hedgehog six or seven times, nibbling on an ice cream sandwich between acts and zones, a sandwich that eventually melts and makes a great mess of things including all over my Genesis controller, which I clean in the kitchen while looking out the window over the sink.
Also the only place truly training cashiers, AFAICT, is Aldi's.
Their self-checkouts used to be slow because the registers would verify the weight of items on the scale (the surface where you bag it) before letting you put it in the cart. If it didn't like the weight it would force you to put it back in the bag. I don't think they do this anymore. Asset protection can view a camera pointed at the scanner and bags if they think you're stealing.
Furthermore, it's hard for Walmart to retain people, so cashiers are treated like a dump stat. They won't really dedicate people to checking out anymore unless that's all they can do, e.g. elderly, so someone who's a cashier all day tends to be slow because they're accomodating that person. So you could be the fastest cashier in the world but it won't mean anything as far as raises, etc. Your fast cashiers are often pulled off and stocking unless its super busy.
(I wish I was kidding; discounters that squeeze costs everywhere including cashier throughput seem to be the exception in retail.)
Even aside from the line, the only thing clerks are sometimes faster at in my experience is ringing up fresh produce where codes have to be typed in (these codes are usually on a label on the produce, but if not you have to go through a lookup procedure if you haven't memorized the code).
Supermarkets usually have old slow people running them. The only time I don't use self checkout is when I have alcohol, and it is slower every single time than doing it myself.