Remembering both Hiragana and Katakana took me no more than a day each. Although I have to admit that I already tried learning them around 5 years ago and gave up back then out of lack of motivation.
I’m not trying to say you should avoid kana, just that there is some amount of intuition you can develop with romaji that does not work in kana.
Sure, maybe don’t force people to learn kana first. But Hepburn is kind of the worst of all worlds, it is just a waste of time to learn Hepburn.
I think the exception is people using the JSL textbooks :) there is a reasonable defense to using JSL. But you’re right. I think it’s indefensible to teach Hepburn to people interested in learning Japanese.