The little border scrum of SONAULI (technically the Nepali side is known as BELAHIYA) is the most popular border crossing between Nepal and India. While it’s not quite as awful as Raxaul/Birgunj, there’s no need to linger.
While the border at Sonauli is officially open 24hr, you will have trouble tracking down immigration officers early in the morning or late at night. Nepali visas are available on the border but Indian visas have to be obtained in advance. Figure on a total of 30min to get through Nepali and Indian border formalities unless you’re crossing with a vehicle; appalling traffic jams on the Nepali side mean this can take hours. Nepal is 15min ahead of India.