It depends on individual. I too have the same mindset maybe the second will be faster. But, not at all. My first at 41 weeks 1 day. My second at 40 weeks 2 days. Both pregnancy cervix opening was 3 cm, no active labour except second child with very mild contractions. The first was induce but not the second.
However both pregnancy I prep early at 37 weeks including hosp bag.