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.