Apologies for the late reply,
This is a larger issue with Physics->USD synchronization that is being improved using omniverse fabric (formerly called flatcache) if you enable physx.flatcache the large time it takes to update render transforms will go down, unfortunately a lot of the APIs in omni.isaac.core and the ros/ros2 bridges rely on usd directly to read parameters. In some cases (like only ready physics values during simulation) this won’t be an issue.
We are working on enabling fabric integration by default to reduce the usd synchronization cost during simulation, but it a large set of changes, and likely on part of the full set of performance improvements will be made for the next release in december.