Agreed. But often I find it challenging to find a nice/interesting composition within an extremely limited timeframe then to setup the tripod to take the shot. Probably more practice is needed.
Yup. Some forethought is also needed. Walk faster ahead if the view is not that great, come to a good view, you get to set up and shoot. Dinner time, sunrise, sunset, free and easy time... lots of opps. I rather be short of time to shoot, than caught with no tripod, when I do and the scene requires one.