@mike.maxwell has good documentation of the procedure to address the issue. Personally I have both Caséta (for lamps, outdoor plugs, and Picos) and RadioRA 2 (most of my lighting). It's an effective solution to the issue.
I don't think this is true. I think it was done to fix a bug, and was a simple way out of some problem they had. They don't really engineer much for us outside integrators -- seems we're tolerated but that's about it. So this lag only shows up through an integration. Lutron would just have you link the motion sensor directly to the load in the setup. They don't get / don't care about, the sorts of things we do with a RA2 system.
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