Mac Pro is a workstation, designed for working hard and for long periods of time. Apple designed it in a way that all the hardware is tested at POST and that's why you take a considerable amount of time to boot compared to the other Macs.
Even late-2013 Mac Pro, with the simplified hardware config and not much expansion, takes significantly more to boot than any other Mac of the same era.
The only Mac Pro that is relatively fast at POST/boot is the 2019 Mac Pro, but when you upgrade it with lot's of RAM and disks, the POST becomes considerable.