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You shouldn't really be spending more than a minute or two per vault, depending on how complex they are, if you know what you're doing
Pretty much, as others have pointed out there's usually a gimmick to each room. An alternate path or a series of panels you need to hack. When it comes to Grineer Sensor Regulators they are avoidable and it's possible to sneak by them if you time it right.
Later on you will unlock something that makes it much easier to sneak past the mobile sensors.
As long as you are analyzing the room, shooting sensors, not walking into anything you shouldn't it definitely gets easier over time as you figure out the tricks of each vault.
Like I said feel free to accept my invite on Steam and I can show you how it's done.
Anyway, to the OP, the trick with spy vaults is to learn the layout and take them slow. It is a good idea to setup a specific loadout for Grineer spy missions. For this loadout, it is a good idea to remove your sentinel weapon. The frame you use for this is usually best to be one that has some ability that can blind or disable enemies in the room. Excalibur is the early choice, Nyx and Ash can also work if you have them. Loki is best for Gineer till you get Ivara. Excalibur has radial blind which will blind sentry drones. Nyx can mindcontrol one of the drones at a time to ignore her, and Ash has a short duration invisibility. Having Animal Instinct on your sentinel or similar mod which has enemy radar. This will help you from walking into the middle of enemy sight.
Additionally, all the rooms usually have a way in or around most of the security if you spend the time looking at the room. One method in learning is to just go in, set off the alarm, kill everything, turn off the alarms, and explore everything you can about the room. You'll probably fail the mission, but you'll learn the room and can pass it next time. You don't need abilities or a certain frame to complete these rooms, but it does make it easier since you don't need to care about some of the mechanics.
Ciphers are a godsend especially if your doing a spy room during void fissures appearing in mission .
You're assuming that Rosalind (Sortie) doesn't exist. At any rate I mention it because it's a good goal to work towards...