I spend about 10 minutes, but that's because I don't sit around resting for 5 minutes between sets. I alternate 2-4 sets of muscle groups so each one is a bit rested by the time I come back to it, and I only do 3 sets per muscle group, 10-12 reps.
I also don't like doing an hour of easy cardio. I've gone to running tracks where the joggers are all jogging slower than I can walk. I even tried flirting with a woman who jogged so slow it felt like I had to go backwards just to keep up with her. If I'm not feeling mildly challenged in the first 30 seconds, I feel like I'm wasting my time.
I think if you got sore, you worked too hard. If you are young or never have been injured in your life, you can survive that. It is true that getting sore will build your muscles faster. But you have to remember that your cartilage gets stronger at 1/3 the rate your muscles do. So if you keep working to get sore, your muscles will one day overpower your cartilage, and your injury will never heal 100%. Slow and steady wins the race. Not everyone can look like HeMan. At age 30+, if you are not injured in any way, you are ahead of 95% of men. If you can have the joy of going on a hike, and not worry about your injured ankle, you can enjoy life even without women. As for me, I'm having to accept Netflix as a substitute.