IME, at least with black beans, overnight is enough. You don’t need to see the actual sprouts, you just need to kickstart the process.

It doesn’t change the taste, and you can control the texture by how long you cook them. Soaking also means it takes less time to cook.

Source: Brazilian who grew up eating black beans several times a week because it’s the number 1 staple there. Usually served in a creamy bean sauce and white rice for the full range of BCAAs - not that I understood that then, it was just delicious.

I just did it in the past few days. Soak overnight in any container you want. Drain. Rinse it a couple times a day until sprouts form. Maybe a few days. I usually wait a few more so the sprouts are a few cm/one inch long.

There are lots of sprouting tutorials on YouTube. I used mason jars, soak the seeds for an hour or two, drain and leave the seeds in the jar damp. Rinse the seeds twice a day. Eventually they start to sprout.