The only time my Pico remotes are 'slow to respond' is directly after a hub restart. This is a know behavior which has been documented in the forum previously. After that one slow response, all of the picos respond quickly, and with just a single press for me.
Which App are you using to with the Picos? Have you inspected the Live Logs (Past Logs) to see if noth Pico presses were seen by the hub? If so, then the issue may a logic issue be within your automation/rule.
I use @stephack's awesome ABC App for all of my Picos.
