Like when I'm trying to do a 5x5. If I had a full 5 minutes between each set, I could do full sets of 5 each time no problem.

But given that I have limited time at the gym, I usually end up with a 2 minute rest period with each set. But inevitably I can't do a full 5 reps in each set. It ends up looking like 5, 5, 4, 3, 2 or else I lower the weight by 10 lbs or so to keep it at 5.

How do I improve the between-set recovery time so that I can do a 5x5 consistently with a 2 minute recovery, or is that asking too much?