I actually grew to like the settings menu very quickly. It works a lot like the Windows 8 Start screen, where you have a location and colour to look for. For example, I know that if I want to get to battery info quickly I scroll all the way down with one hard swipe, up fairly softly, and then hit the lowest green icon in the middle. I can get there quicker than I could on my S2, it becomes second nature VERY quickly.
I also like that you can collapse sections you don't often use, eg I never use Connect And Share, Motion, or User And Backup so I collapse them and end up with a fairly small menu.
Of course, there's always the Quick Settings block at the top which can be customized to have your most used options.