Yes. One of the easiest ways to speed up GRUB 2 during boot is by reducing the time that it waits for its prompt. You can do this by running sudo nano /etc/default/grub, then changing the GRUB_TIMEOUT value to 1.
On the other hand, you can also make sure that GRUB will always wait for a user response by changing that GRUB_TIMEOUT value to -1. Once done, you need to run sudo update-grub to apply your new configuration.