Adding an ARCA/RRS rail to the underside (making sure you get the kind that does M-Lok), then using a compatible bipod, is the usual way of being able to pop it on and off easily in competition.
There are unfortunately far too many standards for attaching a bipod to a rifle. The T-rail that benchrest shooters use is for much-less-dynamic use, M-Lok is for more-permanent accessories, Picatinny rail is too grabby if your hand or something you're resting the rifle on gets underneath, and the sling-stud method is too light and fiddly.