From a technical standpoint, I would say that it would, simply because it has to check the input fingerprint with the hashed fingerprints it has stored. We're talking milliseconds though.
Go into the settings set up 5 fingerprints then whilst in the touch the sensor and you'll see the stored finger flash. I see no difference in time personally
Yes, but that's beside the point. Sometimes I take it out of my front pocket with my thumb on the home button and it gets unlocked by the time I can see the screen (before I know there's a notification). Obviously that's not a real problem but it's not true that Touch ID takes too long, especially once you go through the learning curve.