Anything connected to a USB port (internal or external)? If so, then disconnect it. If that doesn't help, then reset the BIOS. The next step is to remove all non essential components to determine which one causes the issue.
I found something in the boot tab that said something about which device to boot (CD or DVD etc.) and it said Removable Device (or something similar. Should i remove that?
EDIT: Never mind didn't make it faster.
That should be indicated somewhere in the manual, but at a minimum the printer (or anything connected to it) shouldn't show up in the boot device list. If you hibernate the system, do you still have the issue when you power up?
If i disable removable device from the boot order will it disable detecting usb?
I have tried disabling Legacy USB and it worked but because I dual-booted my computer i can't choose which Windows to boot into. Is there a way to solve this?