There's a Firefox add-on for that: https://addons.mozilla.org/en-US/firefox/addon/amp2html/
It's snappy---the redirect happens before the page renders / any tracking has a chance to kick in.
HOWEVER It's not perfect---2 of the 4 first examples I tried failed and required manual intervention. I opened an issue https://github.com/da2x/amp2html/issues/23