It really depends on how close the tankless heater is to your faucets, and how things are piped in your house. The heaters really are near instantaneous in terms of heating water. The problem with delays is due to the piping between the heater and the faucet. If it's on the far side of the house from your kitchen and there's a big 1" line that feeds most of your house that needs to have the cool, stagnant water cleared out first, it's going to take a long time before the water coming out of the faucet is warm. Again, depending how the water is piped in your house, you could potentially add a recirculation pump that will continually keep the water moving and warm. That of course comes with an energy cost both to run the pump (it should be tiny, but it's running all the time, or perhaps on a timer, so it adds up) and increased energy consumption of the heater as it will periodically turn on to keep the temperature up.