I eat beans every day. One thing that can help is a pressure cooker although if you buy brown lentils, they are pretty quick cooking. 20-30 minutes from unsoaked dried to cooked. I use a pressure cooker and cook most of my beans in (except lentils since they are so quick cooking). There are many beans that don't need soaking such as black eyed peas and adzuki beans. So although black beans are one of my favorite, even if I don't soak them in the morning, I can cook my black eyed peas in my pressure cooker and in 20 minutes I have cooked beans.
And I don't mind paying extra for certain things but I really don't think most people have to. For instance, my favorite salad dressing is $6 bottle but I've also made my own salad dressing at a fraction of the cost.
You can't out-exercise poor eating habits.