I've got it down to 3mins if I rush orientation followed by position. I'm convinced this can be pushed further if you have the coordination to combine it.

[edit] 2:30 combined with some exciting drama at the end

[edit] 1:40 combining pitch & yaw & forward-thrust, followed by roll while accel/decel (because doesn't affect approach), finally eyeballing Y and Z and monitoring X reading for reverse thrust (because eyes suck at distance estimation)

[edit] 1:30 with a ~50% chance of becoming a space station projectile, am I hired?

[edit] 1:24 with a 90% chance of becoming tomato puree

[edit]

Found this 00:23 seconds, but they seem to be able to accelerate and decelerate much faster than I can, maybe I need to tweak key repeat and delay times to achieve this.

https://www.youtube.com/watch?v=tQ0J784PO6I