Carry less.

Use less panniers/bags.

Don't piddle, but there should never be a reason to rush.

Personally: I vary my packing speed but it's mostly based on mood & weather. I could wake up and be on the road in 15mins, but hardly ever do that. It's usually an hour (or maybe two) when including breakfast. I never pack the night before. I have my panniers in the tent with me and pack them inside my tent in the morning.