I now live in Tallinn, but have yet to cross that border. The only foreign person I personally know to have done it is Hubert Kriegel, after he left us and headed East last July. He said it was a breeze!!
Thetimelessride - Hubert Kriegel
He too said that it was quick by bike. I think the queues are likely to be long for freight traffic, but I can't imagine it would take 10 hours for private individuals.
Otherwise there are other points to cross at.
Possibly less well equipped than the Narva favourite, but more picturesque to reach, such as the crossing at Petsori, east of the Estonian town of Võru.
I have not heard of any experiences of this crossing but the Setomaa county landscape is far nicer and intersting to travel through than the Narva highway... unless you don't like gravel roads... the more minor roads there will be gravel.
I don't know your itinerary but despite being small, Estonia doesn't deserve to be rushed through outright: it has some very pleasant, if not grand, gems to see and experience. So if you haven't planned to, but can spare a few days, take a little detour through Eestimaa!
Adventure: it's an experience, not a style!
(so ride what you like, but ride it somewhere new!)