If you're travelling with a group, you can always divide and conquer. Have one person go to baggage claim and wait for the bags while the other goes to the rental counter.
Check to see if your rental company has self-serve kiosks. I've cruised past a line of 7 or 8 people waiting for an agent at the counter, walked over to the kiosks off to the side that were being ignored by everyone. I was in and out and heading to the garage in about 3 minutes. While the same two groups were still being helped at the counter. (This was either Alamo or National)
-Rob
Yeah, I might try that. How far is baggage claim from the rental areas?