Optimizing performance for a multi-camera robot simulation

I am trying to use ISAAC with an RTX A5000 to simulate a robot with 5 cameras (~2000*2500 pixel each).
Unfortunately, this results in poor performance out of the box when attempting to render all of them live (about 5 fps, if I try to disable everything that looks expensive in the render settings I can get to 12, but maybe I am missing something here).

Is this to be expected?
What are my options to get to 50 FPS if I am willing to trade off some realism and quality (apart from lowering the render resolution) ?