Both of my two devices with Marshmallow detect wifi fairly fast.
Are there many wifi networks around you? If it's the case, you may want to instruct the phone to only look for networks with good signal quality to reduce scan time.
The network to which I have a password is only one, it's supposed to connect automatically when I am around. It used to with lollipop, but now I have to keep turning on and off for a while. Sometimes I even have to restart the phone!
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