No. Not if you practice. My little Colorado buck was shot at 360 this year, uphill, seated, and rested off the top of my pack. To range, dial, sit down, and shoot took me about 30 seconds all in. It has become second nature and isn't a big deal to me.
That said, my first year hunting with a "dialing scope" it cost me a 500 yard shot on a bull because I took so long getting set up and steady and dialed. But I've put a ton of rounds down range since then and my confidence and ability to set up has quickened significantly.
So to answer the question, yes it has cost me a shot on an animal. Which opened my eyes to my shortcomings and I practice accordingly now. I'm not perfect, but now my immediate inclination when I see an animal beyond point-and-shoot distances is to range and dial. Just like anything, you get better with practice.