I had this happen once at a "bad" ramp. The trailer was sitting off level on the ramp and because of water conditions we had to back in deeper than normal so when we pulled out the high side grabbed the chine. Make sure your trailer is fairly level side to side and you should only have to just barely cover the fenders with water to get the boat on. Do you have the side guides? They help center the boat so you can just power up the trailer if you don't want to back it in as far. Practice!!!! will help. My wife and I can have our boat in the water in less than three minutes and about the same to get it out. I back partially down the ramp and while the young lady and my wife are getting her life jacket on and into the boat i disconnect the wiring harness and take off the winch strap. I then back down a little further and stop and wait for her thumbs up that the boat is started and then I back down further until she's free. I park the truck and then walk to the dock where she is waiting for me and we are off!
We just reverse the process when we get back. By the way, I have already taken the covers and straps off the boat at home since the ramp is only three miles away. 
So maybe add another two minutes if you had to do that at the ramp. I think you just need to practice a few more times and you will find the best way to accomplish this efficiently. By the way if you have guests, have them stay on the dock, they will just get in the way of your routine and somebody is going to get hurt maybe even your boat!