Ny way to exit Berserk Mode

Based on this guide, as well as my own experience, there is no way to skip the opening. In general, you can skip cutscenes by holding the Circle button, but this is not available at any point during the opening. From the article above:

Depending on how long you take, even getting to the first boss can take 30 minutes to an hour. Die any time before or during this fight, and you'll get the lovely screen below followed by a quick kick in the ass that sends you all the way back to the opening cinematic.

Dying repeatedly in Nier: Automata can tilt even the strongest-willed men, especially in this first segment, since you'll be driven all the way back to the opening lines, which, of course, bemoan the perpetual "spiral of life and death," in a cruel twist of irony (and the knife, for that matter).

As an aside, personally, to get past the introduction level, I had to bump the difficulty down to Normal. However, the guide above gives some useful tips on how to beat it without dropping to Normal difficulty.

As someone who also repeatedly died on the first level and had to replay it many times, I vividly remember this dialogue. A lot of the "significant" things won't really stand out until you've reached the true ending, so although I'm going to explain within spoiler tags, don't take them lightly.

1. Yes.

2. I honestly don't know exactly what is said, but from the bits I was able to pick up, it sounds like a mix of some prerecorded announcements and messages for the factory while it was still in use by humans before they left.

3. See spoilers below, but as I said before, this includes very important plot points, so proceed with caution...

The fact that 9S says that nothing machines say make any sense is a bit ironic after you discover that YoRHa androids' black boxes are repurposed machine lifeforms cores. That is to say, YoRHa androids are essentially just prettier machine lifeforms. The YoRHa androids only differ from machine lifeforms in that they were created by different things. The argument that they look different is disproven when the machine lifeforms create Adam and Eve. This line in particular isn't exactly significant story-wise (however, the idea that androids are superior or otherwise different from machine lifeforms is a recurring theme and you will see dialogue like this throughout the game), it is something that you will pick up on when you hear it again after completing the true ending and learning the truth about everything.

Another reason this is important is that is a subtle hint towards the fact that is revealed much later on that machine lifeforms were created with the purpose of "destroying their enemy," however, they eventually realized that without an enemy, their existence is meaningless. Thus, they will never fully destroy the androids. In an effort to ensure this, they allowed themselves to be created with imperfections and anomalies that would hinder their own attack power. Examples of these anomalies would be Pascal, the Forest King, and the machine lifeforms who express more human traits, such as speech.

As for what the Goliath machine lifeform said outside the facility, unless I missed something, I'm pretty sure that one only repeats "KILL... KILL... KILL..."

However, you will meet MUCH more articulate machine lifeforms later on.