First: Have you talked with him about it? He may just like to putter and is in no rush. He may not even realize it bothers you.
Assuming he would like to speed up the process (because if he's happy he won't care), the next time you set up take note of what each of you do and how long it takes. Then you can assess what on earth could eat up 1.5 hrs and make changes to cut that time.
We have a 5th wheel and it only takes us about 15minutes to be sitting down with a beer, satilite tv out and aimed.
How often do you take the rig out? We do have the advantage of taking it out a lot so we have a routine and trust the other to do thier tasks (in fact the only time we've had trouble is when one of us tries to help the other with thier tasks)