Mine takes about 10 min to heat up in winter. Winter today being around -30'C (which is about -22'F for my southern friends).
Takes about a minute in summer.
Most likely either a stuck thermostat or a clogged heater core, as mentioned above.
Or...your heater "door" is stuck mixing in too much outside air.
For heater core check, pop the hood and touch the 2 hoses going into the firewall to your heater core. (2 black rubber hoses near your battery going through foam towards your cab). (these are also the hoses you'll disconnect if you are going to try and clear your heater core with compressed air or cleaning solution - ONLY if you KNOW the heater core is the issue, and you know what you're getting into).
If both hoses are cold, then your issue may be your thermostat.
If one hose is greatly hotter than the other, then the issue may be a clogged heater core.
If both hoses are really hot...then maybe heater door mixing in too much cold air?
Note: there are thermostat's that turn on/off at different temperatures. So even if the thermostat is not stuck, it's possible that it's cooler the engine earlier than the factory setting. I had previously installed one that did that, then was confused why I didn't get as much hot air as I used to...I now use the factory temperature thermostats