[DjScribbles]

If you don't call the motor periodically to set the speed (even if you are setting it to the same value again), it will be stopped and throw an error to the dashboard.

My understanding is that the lag comes from the time it takes to throw that error constantly across the network.

You can resolve the error by ensuring all your motors are being set all the time to a value whenever they are in use and set to 0 when not in use; you can then re-enable the safety.

It's a good idea to use the safety for your drive system especially, so that the robot can't get stuck moving at full throttle if there are communication issues; the safety timer should automatically stop your robot if it's not under control.