I downloaded and tested your Camera Lag Troubleshoot.zip code. With vision enabled I get loop times between 40 and 170 ms. With vision disabled I get loops times between 30 and 65 ms.
Then I turned off auto error logging following the instructions
here. With vision enabled I now get loop times between 15 and 65 ms. With vision disabled I get loop times between 15 and 23 ms.
You might want to try turning off auto error logging.