I think the problem I used to have with these sorts of things was trying to get everything packed as close to "factory" as possible. Meaning I need to fold the tent a certain way, roll my sleeping bag a specific way, etc. The truth is, unless it's something like a sleeping mat, you can really just shove things in a bag and not worry about it. For the tent, I jam it into a compression stuff sack and then compress it even further. It's way smaller than the way it came out of the box and takes much less time than if I had folded it and rolled it very carefully.

Same with sleeping bags or down/synthetic down jackets. People gripe about how hard it is to fit a sleeping bag into the provided stuff sack, but that's because rolling it and trying to hold it in its compressed state while putting it into the same size container gets really fussy. Just shove it in there, it'll fit.

Clothes, I just roll up and that's usually sufficient to not take up much space. The other thing is that the less you take, the less you have to remember/pack and unpack. That cuts out a lot of time. I was going to bring a headlamp, but then decided I had a bike light already on my bike. So I used that as a flashlight. It also helps to think things through logistically, i.e. the tent it the last thing you pack and the first thing you unpack, so account for that when packing.