The self service kiosks are intentionally throttled when scanning barcodes, at a guess to prevent people accidentally scanning the previous/wrong item - I once had some problems with one and a staff member flipped it into supervisor mode at which point they were able to scan at the same rate you'd see at a manned checkout.
Idt that's it, at least in my experience.
I scan as fast as a manned checkout (I did my time in retail). And I can scan my groceries at the speed whilst the people next to me spend most of their time rotating an item to find the barcode.
I think that's handled by the barcode scanner itself, at least on the ones I've used. The scanner will not recognize the same code immediately, but will immediately pick up a different code.
What's slow is that after each scan it needs to check the weight which means it lets the scales settle for one second before accepting another scan.