We do, in a team of 10. We have a very strict rule of being prepared before standup and going through the standup list quickly (< 1 min each). We also make sure to keep our list of tasks focused. Any sidebar discussions are taken until the ending of the meeting and all stakeholders who care can be part of it.

I think for us at least, just having the team all aligned on wanting to finish the meeting as fast as possible helps keep it running quickly and smoothly.