Reaching minimal camera latency with libargus on Jetson Xavier NX

Assuming that your framerate is 30 fps, so 33ms period, for glass to glass measurement you have one frame being captured, while previous one is being debayered by argus, then converted by VIC and passed to your app, where the frame before previous one is being displayed on monitor, so I think that 90 ms is a pretty good glass to glass latency.

You may use a higher framerate for lowering more. The RPi v2 camera can do 60 fps in 720p mode, or you can also achieve 120 fps by rebuilding kernel and dtb (see 120 fps mode support removed for imx219 sensor - #9 by Honey_Patouceul for original post and Gst-launch-1.0 nvarguscamerasrc can't get right GST_ARGUS: Available Sensor modes - #12 by Honey_Patouceul for recent JP5 releases).
Also be sure of your monitor(s) framerate(s) for the experiments.