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It's extremely reliable for me, and has been on every Android phone I've experienced. You could try to Retrain the voice model. Settings -> Voice -> "Ok Google" detection. You could also try turning off Trusted voice.
 
My guess is hardware issue. Mine picks up very quickly. I had to turn off 'from lockscreen' though since that could get triggered in my pocket too easily (I wish you could change the command to trigger it).
 
Just tried it

Worked first time from a locked phone with screen off. Plus I'm sick and losing my voice. You can go through the calibration again and see if that helps
 
My phone had been sitting on my desk, and I haven't touched it for at least two hours. I said 'OK Google' to it, and it beeped right away.

Btw, I don't understand people who are having problems with their gadget and posted by titling their thread as if it's a universal issue.

In this particular case it's not just the title. The question OP is asking is the generic "Is there any way to make "OK Google" work more consistently from any screen?". Well how do we answer that besides with 'nothing, because it works just fine'?
 
I have the opposite problem with Google Now. It can be weeks since I've used it, but then I go watch a YouTube video where someone says "okay Google" and WHAM! Google Now jumps me like a puppy I haven't seen in weeks.
 
My guess is hardware issue. Mine picks up very quickly. I had to turn off 'from lockscreen' though since that could get triggered in my pocket too easily (I wish you could change the command to trigger it).

Motorola let you do just this. Mine is called Jarvis.
 
I have the opposite problem with Google Now. It can be weeks since I've used it, but then I go watch a YouTube video where someone says "okay Google" and WHAM! Google Now jumps me like a puppy I haven't seen in weeks.
I had a similar issue with my nexus 6, it was way too sensitive and would respond to the tv or if I had music playing in the car. Deleting, then retraining the voice model solved that, now it works perfectly.
 
I only really use it when driving and it's always been very reliable, which is surprising given the amount of background noise from the car and music playing.
 
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