If I'm not in a hurry, I generally wash and then soak any dried beans in cold water in the refrigerator for "an indefinite period" which may turn into a week or so. Usually they are okay after about 24 hours, but a couple of days seems better for most. In a slow cooker, they seem not to absorb much moisture, and although they may get softer they never get "plump." Old and very dry beans may need a significantly longer soak than fresher ones, but if they don't get properly swollen before you start the cooking they're unlikely to be "properly hydrated" when done.

A pressure cooker will cook ordinary beans quite rapidly, and that was my first thought here. Navy or "pea beans" can be done in about 15 minutes (at 15 psi), even with "inadequate pre-soaking" but need "more than an hour or two" in a normal simmering pot.

You should be aware that most beans tend to produce a "frothy foam" when simmered in a pressure cooker that can plug the rather tiny vent hole (or the hole to the gage, if you have that kind) in the pressure cooker, leading to a buildup to unsafe pressures. Most pressure cooker instructions warn that you shouldn't cook "starchy things" in them, and beans generally appear to be one of the things they mean.

I've found the problem manageable if you never fill the pressure cooker more than about a third of its depth, bring the temperature up a little slower than usual, and then set the "time between wiggles" of the regulator weight a little longer than for less touchy stuff. If it seems to have "stopped venting" usually just tapping the weight will get a "venting" so you'll know the hole is clear. If you can't get it to blow some steam, the safest procedure is to put the whole pot in the sink and run cold water on it until it's "cool to the touch." Take the lid off carefully and clean the hole. If needed, you can restart the cooking when you've made it entirely safe.

Some "more modern" pressure cookers may have better provisions for a wider variety of "foods" but mine is the "traditional archaic kind."

YMMV.

John