How to speed up the LPE?

If I send position estimates to the LPE estimator quickly (~50Hz), is there way I can make the estimator provide a position a bit faster? The problem I’m having is that when commanding a quadcopter to a pose in OFFBOARD mode, rather than remain static at the position, the vehicle sways horizontally in the area of that pose. I suspect that because LPE returns an estimated position at a slow rate, that the quadcopter is delayed in its quest toward that pose. Am I correct in that suspicion? How can I have the vehicle better remain steady at a pose in OFFBOARD waypoint command mode?

It seems that PX4 updates these things at 10Hz:

Does this mean that PX4, upon receiving a set_position command, may potentially be operating on position data that’s 100ms old?