Most of the time before the message appears to allow you to enter BIOS Setup is the mobo POST processes. There are a series of "tests" of all the hardware devices on the mobo (e.g., the CPU, RAM, bus controllers, HDD controllers, USB controllers, RGB controllers, etc, etc., then the connected devices (optical drive, HDD's, video card), all just for the basics - is it alive enough to reply with a valid code when asked? The end of that process often is marked by a single "beep" you can hear ONLY if you have a small "speaker" attached to the correct pins of the mobo's Front Panel Header. THEN the mobo can call on the process to boot the OS from the designated source storage device (usually one of your hard drives). Pretty quickly that will load and display the Windows opening desktop, but then it still need to load a bunch of other stuff. You can see some of that as it loads all your desktop icons.
What you describe sounds about normal to me. I think (I never really measured) my older machine did it like that for a long time. Eventually it became bogged down with old software junk, which I intended to resolve by replacing the old Win XP OS with Win 10. But before I could do that my son gifted me with a new computer with a whole bunch of new hardware and Win 10. Because my C: drive (the device I boot from) is an NVMe HDD that is HUGELY faster than a mechanical HDD, my boot time now is very short. The Desktop shows up in less than 10 sec, but it keeps working for a bit more. SOME of that is actually application software like malware protection doing its initial scans as background tasks. So a SSD certainly makes a difference in all storage-related performance times compared to a HDD. Assuming you are booting from an HDD, your time report looks OK to me, especially if you have several HDDs attached. Each of them takes a few seconds during the initial mobo POST process to reply, and later when Windows attempts to open access to each of them.