It can be done very fast by car, if you're willing to risk your licence. I usually drive if I'll be on a regional flight (i.e. no exhaustion and jetlag to deal with on the drive back to Tokyo), since the valet parking services are extremely reasonably priced at NRT. e.g. the USA parking J3 option.

But the caveat about 'willing to risk your licence' is important: 40km/h over the limit is the key number on the expressways. 140km/h is a 3 point penalty; 145km/h is a 6 point penalty and therefore an immediate 30 day suspension.