On latency: that is true now but likely false in the near future. There is so much potential left over for optimizing inference further.

On PID: the field has been stuck trying to do analytical/optimization-based control for decades, and end-to-end control has shown incredible performance (e.g., SoTA cost of transport in legged locomotion) and robustness (e.g., not falling over when stepping on a pile of leaves) - while being far scalable (in terms of how fast it is to get a new robot up and running). Which is not to say it's perfect but it seems like it's a step in the right direction.

Better yet, companies like Physical Intelligence are doing good with hierarchical ("fast-slow") architecture to address both the intelligence and latency fronts.