Ugh
Last time I tried simulators, they where painfully slow too. Simulators are actually virtual machines that emulate totally different hardware architecture and that just makes them slow. If you want faster simulators, please consult Google or Apple.
There is a performance again, if you use real devices. Instead of 5 seconds, it could last 2-3 seconds. But even 2-3 seconds is slow compared to Selenium which can perform multiple actions in fraction of a second. Many things makes the mobile testing slow, one is that the it runs on mobile (which has less CPU and memory than desktop computers). Other is the Appium architecture, which has at least three different client/server connections before the single interaction reaches the android os. Also there are many other factors, like what other stuff the device is doing.
As a bottom line, testing in mobile devices is slow, a great deal of slower than in browsers (which is also darn slow). The speed up your testing with mobile:
1) Use real devices and not the cheapest ones. Although using the flagship model is not worth of the money either.
2) Run test suites in parallel.
3) Write small tests, so that the total exception time is small.