Eclipse or IntelliJ IDEs will compile while you code (like C#). Depends on the project setup and dependencies. But I've found that this works for most development until I need to produce an artifact. Then I run maven which does a lot more than just compile code and usually is longer than 40s.
Yeah, having to run a whole IDE just to get incremental compilation is pretty annoying tho. Perhaps I should just bite the Java bullet and try to use IntelliJ.
You don't normally use Maven to compile every change when doing Java projects. Your IDE will incrementally compile what's needed based on importing the Maven config. You use Maven for tasks like packaging, linting, building JavaDocs etc.