I don't think there's a single boss that takes over a minute to get to, the trick is to run past anyone you can. But I honestly understand because the souls games do have aspects that feel almost intentionally cryptic for no good reason. Stats are not super well explained, and you have to kinda pay attention to how a lot of things work. They don't really tell you about the whole running past enemies thing either, I still see people fighting every enemy on the way to the boss in coop.
That being said, do try Sekiro if you can! It doesn't have the issue of long boss walks because every boss has a bonfire/idol right in front of them and there's no bizzare stats to worry about - hell it even has a lore friendly NPC who teaches you the combat. It's Fromsofts best work imo