Same, not atlantis but we used Gitlab-CI and Jenkins steps for an approval whenever there's a change in production, while staging changes are auto-deployed. Terraform plan was written to the PRs using tfnotify[0]. Normal deployments typically took 1 minute and 20 seconds (for each environment, in parallel) which I would consider very reasonable considering that we deployed a medium size infrastructure with only 2 terraform layers, so there was a room for optimizations.
[0]: https://github.com/mercari/tfnotify