Do you anticipate ardupilot being faster in the near future?
Overall I would say so, however it doesn’t seem to be happening terribly quickly.
The handling of the feedback pin is easy to partially improve, and turns into a rats nest to fully improve it. It’s easy to grab the event time correctly, however grabbing the associated GPS position/Attitude data would experience race conditions at the moment. I suspect this hasn’t been chased to much because the people who are most affected are either flying slow enough (copters) where it doesn’t matter, or are unaware it’s happening.
Far more RTK users care about the internal delays then PPK users, but even that use case doesn’t wait then interpolate between GPS data, it just takes the last recieved GPS position. Few people have actively chased PPK with ArduPilot acting as the logger, as there is not an easy PPK solution that you can take an ArduPilot log to, most people choose to operate with RTK (and accept tagging off the last GPS position which could have been a decent distance behind themselves), or use an integrated, more featured PPK solution (Emlid or Septentrio stand out here).
The PPS thing is on my to support list because it would enhance the quality of the data we hand to the EKF. But it’s something that keeps just floating on my list as a low priority item.