It sounds like your water heater is located a long distance from each of the fixtures.. However, even in and extreme situation in an average home, anything longer than 30 sec. it too much (sometimes it seems like 5 min. when your standing there).
Try timing it and see if you haven't exagerated the wait time.
If in fact it is taking several minutes then you have a problem with water flow rate.. Most residence are piped with 1/2" OD pvc or 3/8" ID copper tubing.. Either way the cross section area is going to be about 3/8".. The other factor would be the water pressure. Around 50 lb is standard but in some home that could be as low as 30.
I just did a test of my furthest bath room, about 40 ft of 1/2" pipe run from the waterheater.. It took 35 sec. to get warm water, 45 sec. to get hot and about 55 till it was extremely hot.. My water heater is set at about 150 deg.F.
Some might recommend insulating pipes but that only prevents the pipes from cooling off after you have run the hot water into them. Does nothing to shorten your time when the pipe are already cold (30 min. after the last hot water demand).
Move the hot water heater closer to the main demand.. Have knowledgeable plumer put in a hot water recirculating pump. This is used in some commercial installations to keep the hot water at the tap at all times.. This method cost you money because of the pump running periodically and for reheating the water as it cools and is returned to the water heater..
The last but most common solution is the 'on demand' water heater in each bathroom.. These have no tank and heat the water as you need it.. but like I say, you will have to have one for each bath and maybe the kitchen.. These would be efficient, especially if you supply them from the existing hot water line and leave your regular hot water heater on.. Once the hot water from the regular heater get to the 'on demand' heater the electric element will turn off..
Steve (retired steam fitter/pipe fitter)