Increased latency because of ivr_detection set to True

Has anybody noticed that when we set ivr_detection to True on outbound calls, there is a noticeable lag in the introduction when the call is directly picked up by the user instead of an IVR system. I understand that there is an extra detection step going on, so increased latency is understandable, but I felt that it is on a higher side.

Has anyone experienced this? How are you handling/improving IVR navigation in outbound calls. i though of having a completely separate IVR agent and switch between main and IVR agent as required.