How to remove splash screen / logos when the game starts

Yes

First there are the aforementioned "Saviour Schnapps", these can be bought or crafted and you can manually save the game each time you use one. The save game option in the pause menu does the same as using the item in your inventory.

Second there are beds. There are many beds you can use for this and only an hour is needed. You can use your personal bed, you unlock more as the story progresses. There are camp spots out in the world you can find and can use as well. And the most common is the taverns and bath houses, these will cost you money but will be found in almost any town. Note that you can't use just any bed in a person's house though, you must have bought it for the time, such as a tavern, or own it.

Third there are auto-saves. These take place at set points in quests, typically on completion of the quest but also during major steps in larger quests.

And last there is another method of modding. There is a mod that allows you to manually save without a saviour schnapps being used, effectively allowing you to save infinitely. This is only possible on PC right now.

You don't have to wait during the intro for just the main menu to load but the entire game and your save states. Sadly there isn't an option to get out of the logos/intro for the PS4 yet and I have not heard about this subject being touched for the next patch.