Yes, but OTAA can be as quick as 5 or 6 seconds (RX1 and RX2 delay for a join) too. If OTAA does not succeed in 5 or 6 seconds, then check TTN Console if it was accepted. If true, then assume the Join Accept was transmitted, but that the downlink was not received by the node. Next, the node needs to try again. When trying again, the node might use a higher SF, for which it will also get the downlink on a higher SF, to improve the chances that the Join Request and Join Accept are received. The retry-cycle will take time.
For LMIC, see also MAX_CLOCK_ERROR.