I'm not so sure most of the fault lies with the terminals. In April 2016, Visa announced a software/firmware update to card terminals to speed up the awkward waits affecting chip cards [1].

But to your point I found chip terminal manufactuer that claims to have optimized the communications between the chip and the terminal [2].

[1] http://investor.visa.com/news/news-details/2016/Visa-Speeds-...

[2] https://cayan.com/insights/emv-doesn-t-have-to-slow-down-the...