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I like the Motorola double twist for camera gesture, you can start the gesture just as you take it out of your pocket.

I miss my Sony Ericsson that had an actual shutter button you could hold down to activate the camera from sleep.

OnePlus (five here) uses double power button for that and it feels quite fast/is very reliable.

Double-power on the Nexus 6P on Oreo - it's very nice.