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What I am wondering is if I should instead try to time out their character's actions as best as I can given the 6 second round, 2 minutes to take 20, etc. or if it is alright to use an actual timer, as I did previously, since much of the time spent is them discussing what to do.
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The time limit really is a non-issue. The PCs are never informed of any limit and the tasks they need to perform are likely to be completed in a matter of a few minutes. Perception rolls to search is only a move action (so you can do this 20 times in a minute, or just spend the full minute to take 20), and disabling the one trap will take at most 8 minutes (if taking 20, and likely much faster if not).
I've never had the time limit come into play, and the only circumstance I can see it doing so is only to help move along the scenario if the players are taking to long here and holding up the rest of the scenario.