I made the unconventional choice of using a Blackmagic Micro Studio 4K camera for a robotic application and it turned out to be a not crazy choice - we get our choice of lenses and they have controllable focus and zoom, there's a REST API for the camera (which can connect to Ethernet), etc. To speak nothing of the crisp image. And that I can pick one up in 30 minutes at B&H (in NYC).
Industrial vision cameras can cost ~the same but you'll want to rip your hair out before you get to grab an image (or change the focus - sorry, that's mostly never possible).
Huge, huge fan of Blackmagic. The rock-solid free editing software is just cherry on top.
We use the SDI output (that cable is sturdy and the bnc lock connector is rock solid) and a Blackmagic 12G SDI to HDMI converter, and then an El Gato HDMI capture card.
Intuitively, I’d say most of the delay is coming from the HDMI capture side (it’s a pretty cheap usb dongle).
And the great thing about the paid version is that updates are (so far) free with no subscription bs.
I paid for it once like 10 years ago and still get every new version for free.
Also they were first to sell us USB3 based HDMI capture devices that we could take around and do live capture from cameras at full HD for also a pretty affordable price (around 1000$?).
Whenever we needed affordable (semi) professional gear, they were consistently the ones to look at.