Ok, so I did get a better answer from the devs and did a little testing of my own.
With different camera manufacturers, we have to request settings differently. Some camera makes require that every "call" for settings is sent individually, while other manufacturers can send all settings in one call. This is what makes the difference between a 3 second connection and a 1 minute connection.
If you must definitely have a fast initial connect time, you could speed this up a lot by giving the camera a view only username and password. the downside to this is you won't be able to change any camera settings in exacq, but it will connect fast. Tested this with an IQ511
Hope this helps