As I live in Rotterdam and have to fly frequently for business I have used Rotterdam airport many times. Just take a taxi from the city center(+/- 20 euro) check in and go. Normally only little waiting time at the check in and even that can be avoided by check in from internet. Because of its size it is very time efficient. If you travel a lot and often early that's what counts. So I try to avoid the bigger airports like Schiphol and Heathrow unless I feel the need for a long distance walk through the endless gates there.