While things may depend on your use case, yes you will likely notice an improvement over the RT-AC68U.
Yes the RT-AX86U Pro will likely boot faster than the RT-AC68U (mine does), where you may get a longer delay is if using RT-AX86U Pro's DFS /160Ghz frequency on the 5GHZ. Depending on your location you could have the 5Ghz take up to 5 or more minutes to come online due to how DFS negotiates the frequency with other frequencies used by radar and other services.
As someone who went from RT-AC68U to RTAX86U Pro, it was an improvement over the RT-AC68U in my use case. You get added benefits of a 2.5Ghz port for either WAN or LAN if you need it. You get ASUSWRT5.0 (Guest Network Pro and VLAN - 3.0.0.6.x firmware). You get more RAM/NVRAM, better processor, and don't have the low NVRAM that plagues the RT-AC68U. You get the ability to configure a 5th LAN port (either 1GB or 2.5GB) on the RT-AX86U Pro versus 4 LAN ports on the RT-AC68U. Several of my WiFi clients are getting faster WiFi speed with the RT-AX86U Pro. You get Wireguard VPN with the RT-AX86U Pro. There are likely other benefits I'm not thinking of off the top of my head.
But the biggest
disadvantage of the
10 year old RT-AC68U is that it is
EOL by Asus and likely won't be receiving any future firmware updates (beyond a serious CVE vulnerability fix). If you use Asus-Merlin firmware, the developer (RMerlin) will likely be ending support for the AC series routers by the end of 2024. The RT-AX86U Pro should continue to be supported by Asus firmware and the Asus-Merlin firmware (3004.388.x firmware branch for now) for the next couple of years at the very least.
As always YMMV based on your use case.