I'm not one to usually post on dining room items - there's so many variables.... but, I will only say this.
When cruising, I befriend my head waiter, waiter and assistant waiter. If I know that we are going to be on a late excursion, and rushing to the dining room, I let them know, and ask them, "is it ok to be 20 minutes late?", or even up to 30? I have found that if they know in advance that you are going to be late, they will prep our table with the menus, etc., and we pop in and quickly move along to the order.
It also helps if you've looked at the menu ahead of time, and know what you'll have.
All of a sudden, we're all back to the normal timing - with a little advance prep.
And courtesy.
Just saying....