My 3 mile bike ride takes 2 minutes longer door to door than driving.

As has been repeated a few hundred times in this thread already, the part that makes it takes so long is car centric infrastructure. If you live in suburbia where you have a population density of 1k/mi2 (400/km2) you will have to travel a much more significant distance than if you live in a place that has 9k/mi2 (3500/km2)

Then with less car centric infrastructure the benefit of having parking right next to work starts to go away and the extra space can be used to shorten commutes as well