The fastest drive I tested was my Samsung 224DB. Pioneer BDR and DVD (QSI-based) were slower, LG BH and GH also. But time depends also on media-type, especially with DL the times vary a lot
The beep-sound, I think Pioneer do it, but can be model-dependent; I think old Toshiba-drives (not TSST) also.
BTW, the old Toshiba (Read-) drives were in the past the fastest at recognizing. I don´know if it depend on the chipset, the Toshiba use a simple "trick": my other drives (Liteon, Cyberdive) increased rpm after inserting media and slowdown then, Toshiba stayed at low speed and recognized much faster