There will undoubtedly be a time when Apple boasts with a future iPad Pro "latency is now halved".

[LiemTa]

Do you think we'll have to buy a new Apple Pencil to take advantage of the next, or next next iPad Pro's halved latency?

 

[sammy2066]

The latency, albeit very low, is still very noticeable, so yes, it needs to be halved in the next release.

 

[MikhailT]

Not very likely for a few more years. We're talking about a 240hz sensor already in the iPad Pro, halving the latency would require a doubling of the sampling rate at 480hz. That's pretty much unheard of, so I don't think it is happening any time soon.

Apple already reduced as much as they can with the predictive API that predicts where you're writing but that's about as far as you can go.

Also, remember that latency will vary in each app, Paper by 53 is horrible with lags. Apple's Notes is the fastest, GoodNotes and Notability are the next fastest.