There is a 1 second delay issue with the use of Picos, keypads, and motion sensors when they control a Lutron device via the hub as an intermediary. This is a Lutron main repeater lockout function evidently having to do with RF channel occupancy. As a side note, in a Caséta system this problem is much worse than 1 second.
I lived with this 1 second delay for a few years before becoming aware of it, so I can't say that it's a super big deal. BUT, I did want to get rid of it. Recently I added a second main repeater (you have to take the L2 training to get the Inclusive software to do this). The second main repeater uses a different RF channel than the first one. Consequently, a keypad on one main repeater does not incur the delay when controlling a load on the other main repeater. (Side note, a main repeater can do this same trick with Caséta, by using a manually set different RF channel.)
As a result of the above discovery, I put all of my sensors and keypads on one main repeater, and most of my lighting loads on the other. So, there are not any extra delays when the hub is an intermediary. None of this applies when the keypad/pico is directly controlling a load within the Lutron system, programmed to do so in the Essentials software. But, this does limit the utility of picos, so I don't do that for picos.
With respect to SeeTouch keypads I use an obscure app that is part of the Lutron Integration called RA2 Button Integrator. (This app can be done now by other means.) What it does is use phantom buttons for different mode light levels for each button. The button itself is programmed in the Lutron system to turn on the lowest light level -- night mode. The event of the button being pressed launches the app, which in turn pushes the phantom button appropriate for the current mode. Given the ramp time of Lutron loads, this results in a seamless brightening of the light to the correct level when the button is pushed.
I heartily agree with @bill.d's recommendation to do as much as possible on the Lutron side with scenes, with the exception of Picos. Be a bit careful, because a main repeater can't handle multiple (more than 2) phantom button presses in quick succession. If you find yourself wanting to do that, you need to create a new phantom button that includes the multiplicity of loads to control.
I purchased a Lutron Connect Bridge so that I could use the Lutron Connect mobile app with the RA2 system. This is a very over-priced device that only provides this connectivity option. I basically never use the Lutron Connect app itself, and have gone many months with the Lutron Connect unplugged. I don't recommend that, because getting it reconnected recently was a major pain requiring help from Lutron technical support.
Be sure to give the main repeater, and Lutron ConnectBridge if you have one, static IP addresses.
